diff --git a/Atomic26_baseline_v2/checkpoint-100000/eval_20260622_101037_gpu1.log b/Atomic26_baseline_v2/checkpoint-100000/eval_20260622_101037_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..a8febbe2e15dcb9711497791b479c70353df4927
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/eval_20260622_101037_gpu1.log
@@ -0,0 +1,5474 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:01<00:01,  1.02s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.59it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.45it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4600
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: True; Cumulative success rate: 0.125
+EP 9 success: True; Cumulative success rate: 0.2222222222222222
+EP 10 success: True; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: True; Cumulative success rate: 0.2857142857142857
+EP 15 success: False; Cumulative success rate: 0.26666666666666666
+EP 16 success: False; Cumulative success rate: 0.25
+EP 17 success: True; Cumulative success rate: 0.29411764705882354
+EP 18 success: False; Cumulative success rate: 0.2777777777777778
+EP 19 success: False; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: False; Cumulative success rate: 0.23809523809523808
+EP 22 success: False; Cumulative success rate: 0.22727272727272727
+EP 23 success: False; Cumulative success rate: 0.21739130434782608
+EP 24 success: False; Cumulative success rate: 0.20833333333333334
+EP 25 success: False; Cumulative success rate: 0.2
+EP 26 success: False; Cumulative success rate: 0.19230769230769232
+EP 27 success: False; Cumulative success rate: 0.18518518518518517
+EP 28 success: False; Cumulative success rate: 0.17857142857142858
+EP 29 success: False; Cumulative success rate: 0.1724137931034483
+EP 30 success: True; Cumulative success rate: 0.2
+EP 31 success: True; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: False; Cumulative success rate: 0.20588235294117646
+EP 35 success: True; Cumulative success rate: 0.22857142857142856
+EP 36 success: False; Cumulative success rate: 0.2222222222222222
+EP 37 success: True; Cumulative success rate: 0.24324324324324326
+EP 38 success: True; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: True; Cumulative success rate: 0.275
+EP 41 success: False; Cumulative success rate: 0.2682926829268293
+EP 42 success: False; Cumulative success rate: 0.2619047619047619
+EP 43 success: False; Cumulative success rate: 0.2558139534883721
+EP 44 success: False; Cumulative success rate: 0.25
+EP 45 success: False; Cumulative success rate: 0.24444444444444444
+EP 46 success: False; Cumulative success rate: 0.2391304347826087
+EP 47 success: False; Cumulative success rate: 0.23404255319148937
+EP 48 success: False; Cumulative success rate: 0.22916666666666666
+EP 49 success: True; Cumulative success rate: 0.24489795918367346
+EP 50 success: False; Cumulative success rate: 0.24
+Collecting 50 episodes took 819.27 seconds
+Results for robocasa/AdjustToasterOvenTemperature:
+Success rate: 0.24
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: True; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: False; Cumulative success rate: 0.5
+EP 15 success: False; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: True; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: True; Cumulative success rate: 0.5263157894736842
+EP 20 success: False; Cumulative success rate: 0.5
+EP 21 success: False; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: False; Cumulative success rate: 0.43478260869565216
+EP 24 success: True; Cumulative success rate: 0.4583333333333333
+EP 25 success: False; Cumulative success rate: 0.44
+EP 26 success: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: True; Cumulative success rate: 0.4444444444444444
+EP 28 success: False; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: True; Cumulative success rate: 0.4
+EP 36 success: False; Cumulative success rate: 0.3888888888888889
+EP 37 success: True; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: True; Cumulative success rate: 0.41025641025641024
+EP 40 success: True; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: False; Cumulative success rate: 0.4
+EP 46 success: True; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: False; Cumulative success rate: 0.3877551020408163
+EP 50 success: True; Cumulative success rate: 0.4
+Collecting 50 episodes took 1087.56 seconds
+Results for robocasa/AdjustWaterTemperature:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustWaterTemperature/stats.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: False; Cumulative success rate: 0.0
+EP 9 success: False; Cumulative success rate: 0.0
+EP 10 success: False; Cumulative success rate: 0.0
+EP 11 success: True; Cumulative success rate: 0.09090909090909091
+EP 12 success: False; Cumulative success rate: 0.08333333333333333
+EP 13 success: True; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: False; Cumulative success rate: 0.125
+EP 17 success: False; Cumulative success rate: 0.11764705882352941
+EP 18 success: True; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: False; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: False; Cumulative success rate: 0.125
+EP 25 success: False; Cumulative success rate: 0.12
+EP 26 success: False; Cumulative success rate: 0.11538461538461539
+EP 27 success: False; Cumulative success rate: 0.1111111111111111
+EP 28 success: False; Cumulative success rate: 0.10714285714285714
+EP 29 success: False; Cumulative success rate: 0.10344827586206896
+EP 30 success: False; Cumulative success rate: 0.1
+EP 31 success: False; Cumulative success rate: 0.0967741935483871
+EP 32 success: False; Cumulative success rate: 0.09375
+EP 33 success: False; Cumulative success rate: 0.09090909090909091
+EP 34 success: False; Cumulative success rate: 0.08823529411764706
+EP 35 success: False; Cumulative success rate: 0.08571428571428572
+EP 36 success: False; Cumulative success rate: 0.08333333333333333
+EP 37 success: False; Cumulative success rate: 0.08108108108108109
+EP 38 success: False; Cumulative success rate: 0.07894736842105263
+EP 39 success: False; Cumulative success rate: 0.07692307692307693
+EP 40 success: False; Cumulative success rate: 0.075
+EP 41 success: True; Cumulative success rate: 0.0975609756097561
+EP 42 success: False; Cumulative success rate: 0.09523809523809523
+EP 43 success: False; Cumulative success rate: 0.09302325581395349
+EP 44 success: False; Cumulative success rate: 0.09090909090909091
+EP 45 success: False; Cumulative success rate: 0.08888888888888889
+EP 46 success: True; Cumulative success rate: 0.10869565217391304
+EP 47 success: False; Cumulative success rate: 0.10638297872340426
+EP 48 success: False; Cumulative success rate: 0.10416666666666667
+EP 49 success: False; Cumulative success rate: 0.10204081632653061
+EP 50 success: False; Cumulative success rate: 0.1
+Collecting 50 episodes took 1847.08 seconds
+Results for robocasa/CloseBlenderLid:
+Success rate: 0.10
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseBlenderLid/stats.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: True; Cumulative success rate: 0.8333333333333334
+EP 19 success: False; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: False; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: True; Cumulative success rate: 0.8148148148148148
+EP 28 success: True; Cumulative success rate: 0.8214285714285714
+EP 29 success: False; Cumulative success rate: 0.7931034482758621
+EP 30 success: True; Cumulative success rate: 0.8
+EP 31 success: True; Cumulative success rate: 0.8064516129032258
+EP 32 success: True; Cumulative success rate: 0.8125
+EP 33 success: True; Cumulative success rate: 0.8181818181818182
+EP 34 success: True; Cumulative success rate: 0.8235294117647058
+EP 35 success: False; Cumulative success rate: 0.8
+EP 36 success: True; Cumulative success rate: 0.8055555555555556
+EP 37 success: True; Cumulative success rate: 0.8108108108108109
+EP 38 success: True; Cumulative success rate: 0.8157894736842105
+EP 39 success: True; Cumulative success rate: 0.8205128205128205
+EP 40 success: True; Cumulative success rate: 0.825
+EP 41 success: False; Cumulative success rate: 0.8048780487804879
+EP 42 success: True; Cumulative success rate: 0.8095238095238095
+EP 43 success: True; Cumulative success rate: 0.813953488372093
+EP 44 success: False; Cumulative success rate: 0.7954545454545454
+EP 45 success: True; Cumulative success rate: 0.8
+EP 46 success: True; Cumulative success rate: 0.8043478260869565
+EP 47 success: True; Cumulative success rate: 0.8085106382978723
+EP 48 success: True; Cumulative success rate: 0.8125
+EP 49 success: True; Cumulative success rate: 0.8163265306122449
+EP 50 success: True; Cumulative success rate: 0.82
+Collecting 50 episodes took 1912.36 seconds
+Results for robocasa/CloseFridge:
+Success rate: 0.82
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseFridge/stats.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: False; Cumulative success rate: 0.6875
+EP 17 success: True; Cumulative success rate: 0.7058823529411765
+EP 18 success: False; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: False; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: False; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: True; Cumulative success rate: 0.68
+EP 26 success: True; Cumulative success rate: 0.6923076923076923
+EP 27 success: True; Cumulative success rate: 0.7037037037037037
+EP 28 success: True; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: False; Cumulative success rate: 0.7096774193548387
+EP 32 success: True; Cumulative success rate: 0.71875
+EP 33 success: False; Cumulative success rate: 0.696969696969697
+EP 34 success: True; Cumulative success rate: 0.7058823529411765
+EP 35 success: True; Cumulative success rate: 0.7142857142857143
+EP 36 success: True; Cumulative success rate: 0.7222222222222222
+EP 37 success: True; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: True; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: False; Cumulative success rate: 0.7380952380952381
+EP 43 success: False; Cumulative success rate: 0.7209302325581395
+EP 44 success: False; Cumulative success rate: 0.7045454545454546
+EP 45 success: True; Cumulative success rate: 0.7111111111111111
+EP 46 success: True; Cumulative success rate: 0.717391304347826
+EP 47 success: False; Cumulative success rate: 0.7021276595744681
+EP 48 success: False; Cumulative success rate: 0.6875
+EP 49 success: True; Cumulative success rate: 0.6938775510204082
+EP 50 success: False; Cumulative success rate: 0.68
+Collecting 50 episodes took 952.13 seconds
+Results for robocasa/CloseToasterOvenDoor:
+Success rate: 0.68
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseToasterOvenDoor/stats.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: False; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: True; Cumulative success rate: 0.5
+EP 15 success: True; Cumulative success rate: 0.5333333333333333
+EP 16 success: True; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: False; Cumulative success rate: 0.47368421052631576
+EP 20 success: False; Cumulative success rate: 0.45
+EP 21 success: True; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: False; Cumulative success rate: 0.43478260869565216
+EP 24 success: True; Cumulative success rate: 0.4583333333333333
+EP 25 success: True; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: False; Cumulative success rate: 0.43333333333333335
+EP 31 success: True; Cumulative success rate: 0.45161290322580644
+EP 32 success: False; Cumulative success rate: 0.4375
+EP 33 success: True; Cumulative success rate: 0.45454545454545453
+EP 34 success: False; Cumulative success rate: 0.4411764705882353
+EP 35 success: False; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: False; Cumulative success rate: 0.38461538461538464
+EP 40 success: False; Cumulative success rate: 0.375
+EP 41 success: False; Cumulative success rate: 0.36585365853658536
+EP 42 success: False; Cumulative success rate: 0.35714285714285715
+EP 43 success: True; Cumulative success rate: 0.37209302325581395
+EP 44 success: False; Cumulative success rate: 0.36363636363636365
+EP 45 success: False; Cumulative success rate: 0.35555555555555557
+EP 46 success: False; Cumulative success rate: 0.34782608695652173
+EP 47 success: True; Cumulative success rate: 0.3617021276595745
+EP 48 success: True; Cumulative success rate: 0.375
+EP 49 success: True; Cumulative success rate: 0.3877551020408163
+EP 50 success: False; Cumulative success rate: 0.38
+Collecting 50 episodes took 1235.60 seconds
+Results for robocasa/CoffeeSetupMug:
+Success rate: 0.38
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CoffeeSetupMug/stats.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: True; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: True; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: False; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: False; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: False; Cumulative success rate: 0.125
+EP 25 success: False; Cumulative success rate: 0.12
+EP 26 success: False; Cumulative success rate: 0.11538461538461539
+EP 27 success: False; Cumulative success rate: 0.1111111111111111
+EP 28 success: True; Cumulative success rate: 0.14285714285714285
+EP 29 success: False; Cumulative success rate: 0.13793103448275862
+EP 30 success: False; Cumulative success rate: 0.13333333333333333
+EP 31 success: True; Cumulative success rate: 0.16129032258064516
+EP 32 success: False; Cumulative success rate: 0.15625
+EP 33 success: False; Cumulative success rate: 0.15151515151515152
+EP 34 success: False; Cumulative success rate: 0.14705882352941177
+EP 35 success: False; Cumulative success rate: 0.14285714285714285
+EP 36 success: True; Cumulative success rate: 0.16666666666666666
+EP 37 success: False; Cumulative success rate: 0.16216216216216217
+EP 38 success: False; Cumulative success rate: 0.15789473684210525
+EP 39 success: False; Cumulative success rate: 0.15384615384615385
+EP 40 success: False; Cumulative success rate: 0.15
+EP 41 success: True; Cumulative success rate: 0.17073170731707318
+EP 42 success: True; Cumulative success rate: 0.19047619047619047
+EP 43 success: False; Cumulative success rate: 0.18604651162790697
+EP 44 success: False; Cumulative success rate: 0.18181818181818182
+EP 45 success: False; Cumulative success rate: 0.17777777777777778
+EP 46 success: True; Cumulative success rate: 0.1956521739130435
+EP 47 success: False; Cumulative success rate: 0.19148936170212766
+EP 48 success: False; Cumulative success rate: 0.1875
+EP 49 success: False; Cumulative success rate: 0.1836734693877551
+EP 50 success: True; Cumulative success rate: 0.2
+Collecting 50 episodes took 925.06 seconds
+Results for robocasa/NavigateKitchen:
+Success rate: 0.20
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/NavigateKitchen/stats.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: False; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: False; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: False; Cumulative success rate: 0.6923076923076923
+EP 14 success: False; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: False; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: False; Cumulative success rate: 0.6363636363636364
+EP 23 success: False; Cumulative success rate: 0.6086956521739131
+EP 24 success: True; Cumulative success rate: 0.625
+EP 25 success: False; Cumulative success rate: 0.6
+EP 26 success: True; Cumulative success rate: 0.6153846153846154
+EP 27 success: False; Cumulative success rate: 0.5925925925925926
+EP 28 success: True; Cumulative success rate: 0.6071428571428571
+EP 29 success: False; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: False; Cumulative success rate: 0.5483870967741935
+EP 32 success: False; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: False; Cumulative success rate: 0.4857142857142857
+EP 36 success: True; Cumulative success rate: 0.5
+EP 37 success: False; Cumulative success rate: 0.4864864864864865
+EP 38 success: True; Cumulative success rate: 0.5
+EP 39 success: False; Cumulative success rate: 0.48717948717948717
+EP 40 success: False; Cumulative success rate: 0.475
+EP 41 success: False; Cumulative success rate: 0.4634146341463415
+EP 42 success: True; Cumulative success rate: 0.47619047619047616
+EP 43 success: True; Cumulative success rate: 0.4883720930232558
+EP 44 success: False; Cumulative success rate: 0.4772727272727273
+EP 45 success: True; Cumulative success rate: 0.4888888888888889
+EP 46 success: False; Cumulative success rate: 0.4782608695652174
+EP 47 success: True; Cumulative success rate: 0.48936170212765956
+EP 48 success: False; Cumulative success rate: 0.4791666666666667
+EP 49 success: False; Cumulative success rate: 0.46938775510204084
+EP 50 success: True; Cumulative success rate: 0.48
+Collecting 50 episodes took 2070.90 seconds
+Results for robocasa/OpenCabinet:
+Success rate: 0.48
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenCabinet/stats.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: True; Cumulative success rate: 0.6
+EP 16 success: False; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: False; Cumulative success rate: 0.5263157894736842
+EP 20 success: True; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: True; Cumulative success rate: 0.5
+EP 29 success: True; Cumulative success rate: 0.5172413793103449
+EP 30 success: True; Cumulative success rate: 0.5333333333333333
+EP 31 success: True; Cumulative success rate: 0.5483870967741935
+EP 32 success: False; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: False; Cumulative success rate: 0.4857142857142857
+EP 36 success: False; Cumulative success rate: 0.4722222222222222
+EP 37 success: True; Cumulative success rate: 0.4864864864864865
+EP 38 success: True; Cumulative success rate: 0.5
+EP 39 success: False; Cumulative success rate: 0.48717948717948717
+EP 40 success: False; Cumulative success rate: 0.475
+EP 41 success: False; Cumulative success rate: 0.4634146341463415
+EP 42 success: True; Cumulative success rate: 0.47619047619047616
+EP 43 success: False; Cumulative success rate: 0.46511627906976744
+EP 44 success: False; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: False; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: False; Cumulative success rate: 0.42857142857142855
+EP 50 success: True; Cumulative success rate: 0.44
+Collecting 50 episodes took 1510.26 seconds
+Results for robocasa/OpenDrawer:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenDrawer/stats.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: False; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: False; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: False; Cumulative success rate: 0.6111111111111112
+EP 19 success: False; Cumulative success rate: 0.5789473684210527
+EP 20 success: False; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: True; Cumulative success rate: 0.5416666666666666
+EP 25 success: False; Cumulative success rate: 0.52
+EP 26 success: True; Cumulative success rate: 0.5384615384615384
+EP 27 success: True; Cumulative success rate: 0.5555555555555556
+EP 28 success: False; Cumulative success rate: 0.5357142857142857
+EP 29 success: True; Cumulative success rate: 0.5517241379310345
+EP 30 success: True; Cumulative success rate: 0.5666666666666667
+EP 31 success: True; Cumulative success rate: 0.5806451612903226
+EP 32 success: True; Cumulative success rate: 0.59375
+EP 33 success: True; Cumulative success rate: 0.6060606060606061
+EP 34 success: False; Cumulative success rate: 0.5882352941176471
+EP 35 success: True; Cumulative success rate: 0.6
+EP 36 success: True; Cumulative success rate: 0.6111111111111112
+EP 37 success: True; Cumulative success rate: 0.6216216216216216
+EP 38 success: False; Cumulative success rate: 0.6052631578947368
+EP 39 success: True; Cumulative success rate: 0.6153846153846154
+EP 40 success: False; Cumulative success rate: 0.6
+EP 41 success: True; Cumulative success rate: 0.6097560975609756
+EP 42 success: False; Cumulative success rate: 0.5952380952380952
+EP 43 success: False; Cumulative success rate: 0.5813953488372093
+EP 44 success: True; Cumulative success rate: 0.5909090909090909
+EP 45 success: False; Cumulative success rate: 0.5777777777777777
+EP 46 success: False; Cumulative success rate: 0.5652173913043478
+EP 47 success: True; Cumulative success rate: 0.574468085106383
+EP 48 success: False; Cumulative success rate: 0.5625
+EP 49 success: False; Cumulative success rate: 0.5510204081632653
+EP 50 success: True; Cumulative success rate: 0.56
+Collecting 50 episodes took 606.18 seconds
+Results for robocasa/OpenElectricKettleLid:
+Success rate: 0.56
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenElectricKettleLid/stats.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: True; Cumulative success rate: 0.95
+EP 21 success: True; Cumulative success rate: 0.9523809523809523
+EP 22 success: True; Cumulative success rate: 0.9545454545454546
+EP 23 success: True; Cumulative success rate: 0.9565217391304348
+EP 24 success: True; Cumulative success rate: 0.9583333333333334
+EP 25 success: True; Cumulative success rate: 0.96
+EP 26 success: True; Cumulative success rate: 0.9615384615384616
+EP 27 success: True; Cumulative success rate: 0.9629629629629629
+EP 28 success: True; Cumulative success rate: 0.9642857142857143
+EP 29 success: True; Cumulative success rate: 0.9655172413793104
+EP 30 success: True; Cumulative success rate: 0.9666666666666667
+EP 31 success: True; Cumulative success rate: 0.967741935483871
+EP 32 success: True; Cumulative success rate: 0.96875
+EP 33 success: False; Cumulative success rate: 0.9393939393939394
+EP 34 success: True; Cumulative success rate: 0.9411764705882353
+EP 35 success: True; Cumulative success rate: 0.9428571428571428
+EP 36 success: True; Cumulative success rate: 0.9444444444444444
+EP 37 success: False; Cumulative success rate: 0.918918918918919
+EP 38 success: False; Cumulative success rate: 0.8947368421052632
+EP 39 success: True; Cumulative success rate: 0.8974358974358975
+EP 40 success: False; Cumulative success rate: 0.875
+EP 41 success: True; Cumulative success rate: 0.8780487804878049
+EP 42 success: True; Cumulative success rate: 0.8809523809523809
+EP 43 success: False; Cumulative success rate: 0.8604651162790697
+EP 44 success: True; Cumulative success rate: 0.8636363636363636
+EP 45 success: True; Cumulative success rate: 0.8666666666666667
+EP 46 success: True; Cumulative success rate: 0.8695652173913043
+EP 47 success: True; Cumulative success rate: 0.8723404255319149
+EP 48 success: True; Cumulative success rate: 0.875
+EP 49 success: True; Cumulative success rate: 0.8775510204081632
+EP 50 success: True; Cumulative success rate: 0.88
+Collecting 50 episodes took 889.62 seconds
+Results for robocasa/OpenStandMixerHead:
+Success rate: 0.88
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenStandMixerHead/stats.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: False; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: True; Cumulative success rate: 0.375
+EP 17 success: True; Cumulative success rate: 0.4117647058823529
+EP 18 success: True; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: True; Cumulative success rate: 0.45
+EP 21 success: True; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: False; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: True; Cumulative success rate: 0.44
+EP 26 success: True; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: False; Cumulative success rate: 0.43333333333333335
+EP 31 success: False; Cumulative success rate: 0.41935483870967744
+EP 32 success: True; Cumulative success rate: 0.4375
+EP 33 success: False; Cumulative success rate: 0.42424242424242425
+EP 34 success: True; Cumulative success rate: 0.4411764705882353
+EP 35 success: False; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: True; Cumulative success rate: 0.42105263157894735
+EP 39 success: True; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: True; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: False; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: True; Cumulative success rate: 0.46
+Collecting 50 episodes took 1044.22 seconds
+Results for robocasa/PickPlaceCabinetToCounter:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: False; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: True; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: False; Cumulative success rate: 0.38095238095238093
+EP 22 success: True; Cumulative success rate: 0.4090909090909091
+EP 23 success: False; Cumulative success rate: 0.391304347826087
+EP 24 success: True; Cumulative success rate: 0.4166666666666667
+EP 25 success: True; Cumulative success rate: 0.44
+EP 26 success: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: False; Cumulative success rate: 0.4074074074074074
+EP 28 success: True; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: True; Cumulative success rate: 0.4
+EP 36 success: True; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: False; Cumulative success rate: 0.38461538461538464
+EP 40 success: True; Cumulative success rate: 0.4
+EP 41 success: False; Cumulative success rate: 0.3902439024390244
+EP 42 success: True; Cumulative success rate: 0.40476190476190477
+EP 43 success: True; Cumulative success rate: 0.4186046511627907
+EP 44 success: True; Cumulative success rate: 0.4318181818181818
+EP 45 success: False; Cumulative success rate: 0.4222222222222222
+EP 46 success: True; Cumulative success rate: 0.43478260869565216
+EP 47 success: True; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: True; Cumulative success rate: 0.46
+Collecting 50 episodes took 1202.95 seconds
+Results for robocasa/PickPlaceCounterToCabinet:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: True; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: True; Cumulative success rate: 0.4375
+EP 17 success: True; Cumulative success rate: 0.47058823529411764
+EP 18 success: True; Cumulative success rate: 0.5
+EP 19 success: True; Cumulative success rate: 0.5263157894736842
+EP 20 success: False; Cumulative success rate: 0.5
+EP 21 success: False; Cumulative success rate: 0.47619047619047616
+EP 22 success: True; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: True; Cumulative success rate: 0.5
+EP 27 success: True; Cumulative success rate: 0.5185185185185185
+EP 28 success: True; Cumulative success rate: 0.5357142857142857
+EP 29 success: False; Cumulative success rate: 0.5172413793103449
+EP 30 success: True; Cumulative success rate: 0.5333333333333333
+EP 31 success: True; Cumulative success rate: 0.5483870967741935
+EP 32 success: False; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: True; Cumulative success rate: 0.5142857142857142
+EP 36 success: True; Cumulative success rate: 0.5277777777777778
+EP 37 success: False; Cumulative success rate: 0.5135135135135135
+EP 38 success: False; Cumulative success rate: 0.5
+EP 39 success: True; Cumulative success rate: 0.5128205128205128
+EP 40 success: True; Cumulative success rate: 0.525
+EP 41 success: True; Cumulative success rate: 0.5365853658536586
+EP 42 success: True; Cumulative success rate: 0.5476190476190477
+EP 43 success: False; Cumulative success rate: 0.5348837209302325
+EP 44 success: True; Cumulative success rate: 0.5454545454545454
+EP 45 success: True; Cumulative success rate: 0.5555555555555556
+EP 46 success: False; Cumulative success rate: 0.5434782608695652
+EP 47 success: True; Cumulative success rate: 0.5531914893617021
+EP 48 success: True; Cumulative success rate: 0.5625
+EP 49 success: False; Cumulative success rate: 0.5510204081632653
+EP 50 success: False; Cumulative success rate: 0.54
+Collecting 50 episodes took 924.73 seconds
+Results for robocasa/PickPlaceCounterToStove:
+Success rate: 0.54
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToStove/stats.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: True; Cumulative success rate: 0.2857142857142857
+EP 15 success: False; Cumulative success rate: 0.26666666666666666
+EP 16 success: True; Cumulative success rate: 0.3125
+EP 17 success: True; Cumulative success rate: 0.35294117647058826
+EP 18 success: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: True; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: False; Cumulative success rate: 0.38095238095238093
+EP 22 success: True; Cumulative success rate: 0.4090909090909091
+EP 23 success: False; Cumulative success rate: 0.391304347826087
+EP 24 success: False; Cumulative success rate: 0.375
+EP 25 success: False; Cumulative success rate: 0.36
+EP 26 success: False; Cumulative success rate: 0.34615384615384615
+EP 27 success: True; Cumulative success rate: 0.37037037037037035
+EP 28 success: False; Cumulative success rate: 0.35714285714285715
+EP 29 success: True; Cumulative success rate: 0.3793103448275862
+EP 30 success: False; Cumulative success rate: 0.36666666666666664
+EP 31 success: False; Cumulative success rate: 0.3548387096774194
+EP 32 success: True; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: True; Cumulative success rate: 0.3888888888888889
+EP 37 success: False; Cumulative success rate: 0.3783783783783784
+EP 38 success: False; Cumulative success rate: 0.3684210526315789
+EP 39 success: True; Cumulative success rate: 0.38461538461538464
+EP 40 success: False; Cumulative success rate: 0.375
+EP 41 success: True; Cumulative success rate: 0.3902439024390244
+EP 42 success: True; Cumulative success rate: 0.40476190476190477
+EP 43 success: True; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: True; Cumulative success rate: 0.4222222222222222
+EP 46 success: False; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: False; Cumulative success rate: 0.3877551020408163
+EP 50 success: False; Cumulative success rate: 0.38
+Collecting 50 episodes took 1218.55 seconds
+Results for robocasa/PickPlaceDrawerToCounter:
+Success rate: 0.38
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: False; Cumulative success rate: 0.7857142857142857
+EP 15 success: False; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: True; Cumulative success rate: 0.7368421052631579
+EP 20 success: True; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: False; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: False; Cumulative success rate: 0.7307692307692307
+EP 27 success: True; Cumulative success rate: 0.7407407407407407
+EP 28 success: True; Cumulative success rate: 0.75
+EP 29 success: False; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: True; Cumulative success rate: 0.7647058823529411
+EP 35 success: True; Cumulative success rate: 0.7714285714285715
+EP 36 success: True; Cumulative success rate: 0.7777777777777778
+EP 37 success: False; Cumulative success rate: 0.7567567567567568
+EP 38 success: True; Cumulative success rate: 0.7631578947368421
+EP 39 success: True; Cumulative success rate: 0.7692307692307693
+EP 40 success: False; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: False; Cumulative success rate: 0.7380952380952381
+EP 43 success: True; Cumulative success rate: 0.7441860465116279
+EP 44 success: True; Cumulative success rate: 0.75
+EP 45 success: True; Cumulative success rate: 0.7555555555555555
+EP 46 success: True; Cumulative success rate: 0.7608695652173914
+EP 47 success: False; Cumulative success rate: 0.7446808510638298
+EP 48 success: True; Cumulative success rate: 0.75
+EP 49 success: True; Cumulative success rate: 0.7551020408163265
+EP 50 success: True; Cumulative success rate: 0.76
+Collecting 50 episodes took 1148.42 seconds
+Results for robocasa/PickPlaceSinkToCounter:
+Success rate: 0.76
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceSinkToCounter/stats.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: True; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: False; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: True; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: False; Cumulative success rate: 0.7777777777777778
+EP 28 success: True; Cumulative success rate: 0.7857142857142857
+EP 29 success: True; Cumulative success rate: 0.7931034482758621
+EP 30 success: True; Cumulative success rate: 0.8
+EP 31 success: False; Cumulative success rate: 0.7741935483870968
+EP 32 success: True; Cumulative success rate: 0.78125
+EP 33 success: True; Cumulative success rate: 0.7878787878787878
+EP 34 success: True; Cumulative success rate: 0.7941176470588235
+EP 35 success: False; Cumulative success rate: 0.7714285714285715
+EP 36 success: False; Cumulative success rate: 0.75
+EP 37 success: True; Cumulative success rate: 0.7567567567567568
+EP 38 success: True; Cumulative success rate: 0.7631578947368421
+EP 39 success: True; Cumulative success rate: 0.7692307692307693
+EP 40 success: True; Cumulative success rate: 0.775
+EP 41 success: True; Cumulative success rate: 0.7804878048780488
+EP 42 success: False; Cumulative success rate: 0.7619047619047619
+EP 43 success: False; Cumulative success rate: 0.7441860465116279
+EP 44 success: False; Cumulative success rate: 0.7272727272727273
+EP 45 success: True; Cumulative success rate: 0.7333333333333333
+EP 46 success: True; Cumulative success rate: 0.7391304347826086
+EP 47 success: True; Cumulative success rate: 0.7446808510638298
+EP 48 success: False; Cumulative success rate: 0.7291666666666666
+EP 49 success: True; Cumulative success rate: 0.7346938775510204
+EP 50 success: True; Cumulative success rate: 0.74
+Collecting 50 episodes took 564.76 seconds
+Results for robocasa/PickPlaceToasterToCounter:
+Success rate: 0.74
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceToasterToCounter/stats.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: True; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: False; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: False; Cumulative success rate: 0.625
+EP 17 success: False; Cumulative success rate: 0.5882352941176471
+EP 18 success: True; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: False; Cumulative success rate: 0.6
+EP 21 success: True; Cumulative success rate: 0.6190476190476191
+EP 22 success: True; Cumulative success rate: 0.6363636363636364
+EP 23 success: True; Cumulative success rate: 0.6521739130434783
+EP 24 success: False; Cumulative success rate: 0.625
+EP 25 success: True; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: False; Cumulative success rate: 0.6296296296296297
+EP 28 success: True; Cumulative success rate: 0.6428571428571429
+EP 29 success: True; Cumulative success rate: 0.6551724137931034
+EP 30 success: True; Cumulative success rate: 0.6666666666666666
+EP 31 success: True; Cumulative success rate: 0.6774193548387096
+EP 32 success: False; Cumulative success rate: 0.65625
+EP 33 success: True; Cumulative success rate: 0.6666666666666666
+EP 34 success: False; Cumulative success rate: 0.6470588235294118
+EP 35 success: True; Cumulative success rate: 0.6571428571428571
+EP 36 success: False; Cumulative success rate: 0.6388888888888888
+EP 37 success: False; Cumulative success rate: 0.6216216216216216
+EP 38 success: True; Cumulative success rate: 0.631578947368421
+EP 39 success: True; Cumulative success rate: 0.6410256410256411
+EP 40 success: True; Cumulative success rate: 0.65
+EP 41 success: True; Cumulative success rate: 0.6585365853658537
+EP 42 success: True; Cumulative success rate: 0.6666666666666666
+EP 43 success: False; Cumulative success rate: 0.6511627906976745
+EP 44 success: True; Cumulative success rate: 0.6590909090909091
+EP 45 success: True; Cumulative success rate: 0.6666666666666666
+EP 46 success: True; Cumulative success rate: 0.6739130434782609
+EP 47 success: True; Cumulative success rate: 0.6808510638297872
+EP 48 success: True; Cumulative success rate: 0.6875
+EP 49 success: True; Cumulative success rate: 0.6938775510204082
+EP 50 success: False; Cumulative success rate: 0.68
+Collecting 50 episodes took 405.85 seconds
+Results for robocasa/SlideDishwasherRack:
+Success rate: 0.68
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/SlideDishwasherRack/stats.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: False; Cumulative success rate: 0.3076923076923077
+EP 14 success: True; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: True; Cumulative success rate: 0.35294117647058826
+EP 18 success: False; Cumulative success rate: 0.3333333333333333
+EP 19 success: True; Cumulative success rate: 0.3684210526315789
+EP 20 success: False; Cumulative success rate: 0.35
+EP 21 success: True; Cumulative success rate: 0.38095238095238093
+EP 22 success: True; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: False; Cumulative success rate: 0.3793103448275862
+EP 30 success: False; Cumulative success rate: 0.36666666666666664
+EP 31 success: False; Cumulative success rate: 0.3548387096774194
+EP 32 success: True; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: True; Cumulative success rate: 0.3888888888888889
+EP 37 success: False; Cumulative success rate: 0.3783783783783784
+EP 38 success: False; Cumulative success rate: 0.3684210526315789
+EP 39 success: False; Cumulative success rate: 0.358974358974359
+EP 40 success: False; Cumulative success rate: 0.35
+EP 41 success: False; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: True; Cumulative success rate: 0.3488372093023256
+EP 44 success: True; Cumulative success rate: 0.36363636363636365
+EP 45 success: False; Cumulative success rate: 0.35555555555555557
+EP 46 success: False; Cumulative success rate: 0.34782608695652173
+EP 47 success: True; Cumulative success rate: 0.3617021276595745
+EP 48 success: False; Cumulative success rate: 0.3541666666666667
+EP 49 success: False; Cumulative success rate: 0.3469387755102041
+EP 50 success: False; Cumulative success rate: 0.34
+Collecting 50 episodes took 329.34 seconds
+Results for robocasa/TurnOffMicrowave:
+Success rate: 0.34
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffMicrowave/stats.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: False; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: True; Cumulative success rate: 0.8333333333333334
+EP 25 success: False; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: True; Cumulative success rate: 0.8148148148148148
+EP 28 success: True; Cumulative success rate: 0.8214285714285714
+EP 29 success: True; Cumulative success rate: 0.8275862068965517
+EP 30 success: True; Cumulative success rate: 0.8333333333333334
+EP 31 success: True; Cumulative success rate: 0.8387096774193549
+EP 32 success: True; Cumulative success rate: 0.84375
+EP 33 success: True; Cumulative success rate: 0.8484848484848485
+EP 34 success: True; Cumulative success rate: 0.8529411764705882
+EP 35 success: False; Cumulative success rate: 0.8285714285714286
+EP 36 success: True; Cumulative success rate: 0.8333333333333334
+EP 37 success: True; Cumulative success rate: 0.8378378378378378
+EP 38 success: True; Cumulative success rate: 0.8421052631578947
+EP 39 success: True; Cumulative success rate: 0.8461538461538461
+EP 40 success: True; Cumulative success rate: 0.85
+EP 41 success: False; Cumulative success rate: 0.8292682926829268
+EP 42 success: True; Cumulative success rate: 0.8333333333333334
+EP 43 success: True; Cumulative success rate: 0.8372093023255814
+EP 44 success: True; Cumulative success rate: 0.8409090909090909
+EP 45 success: True; Cumulative success rate: 0.8444444444444444
+EP 46 success: True; Cumulative success rate: 0.8478260869565217
+EP 47 success: True; Cumulative success rate: 0.851063829787234
+EP 48 success: True; Cumulative success rate: 0.8541666666666666
+EP 49 success: True; Cumulative success rate: 0.8571428571428571
+EP 50 success: True; Cumulative success rate: 0.86
+Collecting 50 episodes took 429.18 seconds
+Results for robocasa/TurnOffSinkFaucet:
+Success rate: 0.86
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffSinkFaucet/stats.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: True; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: False; Cumulative success rate: 0.3076923076923077
+EP 14 success: False; Cumulative success rate: 0.2857142857142857
+EP 15 success: False; Cumulative success rate: 0.26666666666666666
+EP 16 success: False; Cumulative success rate: 0.25
+EP 17 success: False; Cumulative success rate: 0.23529411764705882
+EP 18 success: True; Cumulative success rate: 0.2777777777777778
+EP 19 success: False; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: True; Cumulative success rate: 0.2857142857142857
+EP 22 success: True; Cumulative success rate: 0.3181818181818182
+EP 23 success: True; Cumulative success rate: 0.34782608695652173
+EP 24 success: False; Cumulative success rate: 0.3333333333333333
+EP 25 success: False; Cumulative success rate: 0.32
+EP 26 success: False; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: False; Cumulative success rate: 0.2857142857142857
+EP 29 success: True; Cumulative success rate: 0.3103448275862069
+EP 30 success: True; Cumulative success rate: 0.3333333333333333
+EP 31 success: False; Cumulative success rate: 0.3225806451612903
+EP 32 success: False; Cumulative success rate: 0.3125
+EP 33 success: True; Cumulative success rate: 0.3333333333333333
+EP 34 success: True; Cumulative success rate: 0.35294117647058826
+EP 35 success: False; Cumulative success rate: 0.34285714285714286
+EP 36 success: False; Cumulative success rate: 0.3333333333333333
+EP 37 success: True; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: False; Cumulative success rate: 0.3333333333333333
+EP 40 success: False; Cumulative success rate: 0.325
+EP 41 success: True; Cumulative success rate: 0.34146341463414637
+EP 42 success: True; Cumulative success rate: 0.35714285714285715
+EP 43 success: False; Cumulative success rate: 0.3488372093023256
+EP 44 success: True; Cumulative success rate: 0.36363636363636365
+EP 45 success: True; Cumulative success rate: 0.37777777777777777
+EP 46 success: False; Cumulative success rate: 0.3695652173913043
+EP 47 success: False; Cumulative success rate: 0.3617021276595745
+EP 48 success: False; Cumulative success rate: 0.3541666666666667
+EP 49 success: False; Cumulative success rate: 0.3469387755102041
+EP 50 success: False; Cumulative success rate: 0.34
+Collecting 50 episodes took 592.72 seconds
+Results for robocasa/TurnOffStove:
+Success rate: 0.34
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffStove/stats.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: False; Cumulative success rate: 0.6875
+EP 17 success: True; Cumulative success rate: 0.7058823529411765
+EP 18 success: False; Cumulative success rate: 0.6666666666666666
+EP 19 success: False; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: True; Cumulative success rate: 0.7083333333333334
+EP 25 success: True; Cumulative success rate: 0.72
+EP 26 success: True; Cumulative success rate: 0.7307692307692307
+EP 27 success: False; Cumulative success rate: 0.7037037037037037
+EP 28 success: False; Cumulative success rate: 0.6785714285714286
+EP 29 success: True; Cumulative success rate: 0.6896551724137931
+EP 30 success: True; Cumulative success rate: 0.7
+EP 31 success: True; Cumulative success rate: 0.7096774193548387
+EP 32 success: True; Cumulative success rate: 0.71875
+EP 33 success: True; Cumulative success rate: 0.7272727272727273
+EP 34 success: True; Cumulative success rate: 0.7352941176470589
+EP 35 success: True; Cumulative success rate: 0.7428571428571429
+EP 36 success: False; Cumulative success rate: 0.7222222222222222
+EP 37 success: True; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: False; Cumulative success rate: 0.725
+EP 41 success: True; Cumulative success rate: 0.7317073170731707
+EP 42 success: False; Cumulative success rate: 0.7142857142857143
+EP 43 success: True; Cumulative success rate: 0.7209302325581395
+EP 44 success: True; Cumulative success rate: 0.7272727272727273
+EP 45 success: True; Cumulative success rate: 0.7333333333333333
+EP 46 success: True; Cumulative success rate: 0.7391304347826086
+EP 47 success: False; Cumulative success rate: 0.723404255319149
+EP 48 success: True; Cumulative success rate: 0.7291666666666666
+EP 49 success: True; Cumulative success rate: 0.7346938775510204
+EP 50 success: True; Cumulative success rate: 0.74
+Collecting 50 episodes took 396.00 seconds
+Results for robocasa/TurnOnElectricKettle:
+Success rate: 0.74
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnElectricKettle/stats.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: False; Cumulative success rate: 0.08333333333333333
+EP 13 success: False; Cumulative success rate: 0.07692307692307693
+EP 14 success: True; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: False; Cumulative success rate: 0.125
+EP 17 success: False; Cumulative success rate: 0.11764705882352941
+EP 18 success: False; Cumulative success rate: 0.1111111111111111
+EP 19 success: False; Cumulative success rate: 0.10526315789473684
+EP 20 success: False; Cumulative success rate: 0.1
+EP 21 success: True; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: True; Cumulative success rate: 0.16666666666666666
+EP 25 success: False; Cumulative success rate: 0.16
+EP 26 success: False; Cumulative success rate: 0.15384615384615385
+EP 27 success: True; Cumulative success rate: 0.18518518518518517
+EP 28 success: False; Cumulative success rate: 0.17857142857142858
+EP 29 success: False; Cumulative success rate: 0.1724137931034483
+EP 30 success: True; Cumulative success rate: 0.2
+EP 31 success: True; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: True; Cumulative success rate: 0.23529411764705882
+EP 35 success: False; Cumulative success rate: 0.22857142857142856
+EP 36 success: True; Cumulative success rate: 0.25
+EP 37 success: False; Cumulative success rate: 0.24324324324324326
+EP 38 success: False; Cumulative success rate: 0.23684210526315788
+EP 39 success: False; Cumulative success rate: 0.23076923076923078
+EP 40 success: True; Cumulative success rate: 0.25
+EP 41 success: True; Cumulative success rate: 0.2682926829268293
+EP 42 success: True; Cumulative success rate: 0.2857142857142857
+EP 43 success: False; Cumulative success rate: 0.27906976744186046
+EP 44 success: False; Cumulative success rate: 0.2727272727272727
+EP 45 success: False; Cumulative success rate: 0.26666666666666666
+EP 46 success: True; Cumulative success rate: 0.2826086956521739
+EP 47 success: False; Cumulative success rate: 0.2765957446808511
+EP 48 success: True; Cumulative success rate: 0.2916666666666667
+EP 49 success: False; Cumulative success rate: 0.2857142857142857
+EP 50 success: False; Cumulative success rate: 0.28
+Collecting 50 episodes took 438.81 seconds
+Results for robocasa/TurnOnMicrowave:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnMicrowave/stats.json
+
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: True; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: True; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: True; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: False; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: True; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: True; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: True; Cumulative success rate: 0.6
+EP 26 success: True; Cumulative success rate: 0.6153846153846154
+EP 27 success: True; Cumulative success rate: 0.6296296296296297
+EP 28 success: False; Cumulative success rate: 0.6071428571428571
+EP 29 success: False; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: True; Cumulative success rate: 0.5806451612903226
+EP 32 success: True; Cumulative success rate: 0.59375
+EP 33 success: True; Cumulative success rate: 0.6060606060606061
+EP 34 success: False; Cumulative success rate: 0.5882352941176471
+EP 35 success: False; Cumulative success rate: 0.5714285714285714
+EP 36 success: True; Cumulative success rate: 0.5833333333333334
+EP 37 success: True; Cumulative success rate: 0.5945945945945946
+EP 38 success: False; Cumulative success rate: 0.5789473684210527
+EP 39 success: False; Cumulative success rate: 0.5641025641025641
+EP 40 success: False; Cumulative success rate: 0.55
+EP 41 success: True; Cumulative success rate: 0.5609756097560976
+EP 42 success: True; Cumulative success rate: 0.5714285714285714
+EP 43 success: True; Cumulative success rate: 0.5813953488372093
+EP 44 success: True; Cumulative success rate: 0.5909090909090909
+EP 45 success: False; Cumulative success rate: 0.5777777777777777
+EP 46 success: True; Cumulative success rate: 0.5869565217391305
+EP 47 success: False; Cumulative success rate: 0.574468085106383
+EP 48 success: False; Cumulative success rate: 0.5625
+EP 49 success: True; Cumulative success rate: 0.5714285714285714
+EP 50 success: False; Cumulative success rate: 0.56
+Collecting 50 episodes took 629.26 seconds
+Results for robocasa/TurnOnSinkFaucet:
+Success rate: 0.56
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnSinkFaucet/stats.json
+
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: True; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: True; Cumulative success rate: 0.375
+EP 17 success: True; Cumulative success rate: 0.4117647058823529
+EP 18 success: True; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: True; Cumulative success rate: 0.4583333333333333
+EP 25 success: True; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: False; Cumulative success rate: 0.4444444444444444
+EP 28 success: False; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: True; Cumulative success rate: 0.40625
+EP 33 success: False; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: False; Cumulative success rate: 0.3333333333333333
+EP 40 success: True; Cumulative success rate: 0.35
+EP 41 success: False; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: False; Cumulative success rate: 0.32558139534883723
+EP 44 success: True; Cumulative success rate: 0.3409090909090909
+EP 45 success: False; Cumulative success rate: 0.3333333333333333
+EP 46 success: True; Cumulative success rate: 0.34782608695652173
+EP 47 success: True; Cumulative success rate: 0.3617021276595745
+EP 48 success: True; Cumulative success rate: 0.375
+EP 49 success: True; Cumulative success rate: 0.3877551020408163
+EP 50 success: True; Cumulative success rate: 0.4
+Collecting 50 episodes took 406.92 seconds
+Results for robocasa/TurnOnStove:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnStove/stats.json
+
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: True; Cumulative success rate: 1.0
+EP 11 success: False; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: True; Cumulative success rate: 0.95
+EP 21 success: True; Cumulative success rate: 0.9523809523809523
+EP 22 success: True; Cumulative success rate: 0.9545454545454546
+EP 23 success: True; Cumulative success rate: 0.9565217391304348
+EP 24 success: True; Cumulative success rate: 0.9583333333333334
+EP 25 success: True; Cumulative success rate: 0.96
+EP 26 success: True; Cumulative success rate: 0.9615384615384616
+EP 27 success: True; Cumulative success rate: 0.9629629629629629
+EP 28 success: True; Cumulative success rate: 0.9642857142857143
+EP 29 success: True; Cumulative success rate: 0.9655172413793104
+EP 30 success: True; Cumulative success rate: 0.9666666666666667
+EP 31 success: True; Cumulative success rate: 0.967741935483871
+EP 32 success: True; Cumulative success rate: 0.96875
+EP 33 success: True; Cumulative success rate: 0.9696969696969697
+EP 34 success: True; Cumulative success rate: 0.9705882352941176
+EP 35 success: True; Cumulative success rate: 0.9714285714285714
+EP 36 success: True; Cumulative success rate: 0.9722222222222222
+EP 37 success: True; Cumulative success rate: 0.972972972972973
+EP 38 success: True; Cumulative success rate: 0.9736842105263158
+EP 39 success: True; Cumulative success rate: 0.9743589743589743
+EP 40 success: True; Cumulative success rate: 0.975
+EP 41 success: True; Cumulative success rate: 0.975609756097561
+EP 42 success: True; Cumulative success rate: 0.9761904761904762
+EP 43 success: True; Cumulative success rate: 0.9767441860465116
+EP 44 success: True; Cumulative success rate: 0.9772727272727273
+EP 45 success: True; Cumulative success rate: 0.9777777777777777
+EP 46 success: True; Cumulative success rate: 0.9782608695652174
+EP 47 success: False; Cumulative success rate: 0.9574468085106383
+EP 48 success: True; Cumulative success rate: 0.9583333333333334
+EP 49 success: True; Cumulative success rate: 0.9591836734693877
+EP 50 success: True; Cumulative success rate: 0.96
+Collecting 50 episodes took 400.79 seconds
+Results for robocasa/TurnSinkSpout:
+Success rate: 0.96
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnSinkSpout/stats.json
+
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 6h 40m 3s (24003.21s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000
+- checkpoint_name: checkpoint-100000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4600 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 10 | None
+CloseFridge: 82 | None
+CloseToasterOvenDoor: 68 | None
+CoffeeSetupMug: 38 | None
+NavigateKitchen: 20 | None
+OpenCabinet: 48 | None
+OpenDrawer: 44 | None
+OpenStandMixerHead: 88 | None
+PickPlaceCounterToCabinet: 46 | None
+PickPlaceCounterToStove: 54 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 76 | None
+PickPlaceToasterToCounter: 74 | None
+PickPlaceCabinetToCounter: 46 | None
+TurnOnElectricKettle: 74 | None
+TurnOnMicrowave: 28 | None
+TurnOffMicrowave: 34 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 68 | None
+TurnOnSinkFaucet: 56 | None
+TurnSinkSpout: 96 | None
+TurnOffSinkFaucet: 86 | None
+AdjustWaterTemperature: 40 | None
+TurnOffStove: 34 | None
+TurnOnStove: 40 | None
+AdjustToasterOvenTemperature: 24 | None
+AVG: 52.6 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000/summary.txt
diff --git a/Atomic26_baseline_v2/checkpoint-100000/eval_20260622_101037_gpu1.pid b/Atomic26_baseline_v2/checkpoint-100000/eval_20260622_101037_gpu1.pid
new file mode 100644
index 0000000000000000000000000000000000000000..fccedd930ed942ab114ea4b7110a0c1f92b2dff9
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/eval_20260622_101037_gpu1.pid
@@ -0,0 +1 @@
+4054632
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b911ebbef26e31ed525a85f1ad91f67ac30366a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.24
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustWaterTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/AdjustWaterTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseBlenderLid/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseBlenderLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a79c4378cd568b0382188f9ec37efae146800d8
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseBlenderLid/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.1
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseFridge/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseFridge/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseFridge/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.82
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseToasterOvenDoor/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea8bed945dbdad5e6f525ef763bbd94c1cbf5b2
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CloseToasterOvenDoor/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.68
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CoffeeSetupMug/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/CoffeeSetupMug/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/NavigateKitchen/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/NavigateKitchen/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cd07d1c0b368bbd29e4e592d28868e10256ff1
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/NavigateKitchen/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.2
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenCabinet/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenCabinet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenDrawer/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenDrawer/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenElectricKettleLid/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenElectricKettleLid/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenStandMixerHead/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/OpenStandMixerHead/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToStove/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceCounterToStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceSinkToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceSinkToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4293564d21a5eaa3f6795117efdf4839ea54fa
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceSinkToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.76
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceToasterToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/PickPlaceToasterToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/SlideDishwasherRack/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea8bed945dbdad5e6f525ef763bbd94c1cbf5b2
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/SlideDishwasherRack/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.68
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..458fb974d3e8cd371d62316c196977f68e872f47
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.86
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffStove/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOffStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnElectricKettle/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnElectricKettle/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnStove/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnOnStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnSinkSpout/stats.json b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnSinkSpout/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3019d2034f88359263ef1e58bbccc0e01107e58
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/evals/pretrain/TurnSinkSpout/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.96
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-100000/summary.txt b/Atomic26_baseline_v2/checkpoint-100000/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0764c0973405689075204fa577d2b0ca2427e401
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-100000/summary.txt
@@ -0,0 +1,50 @@
+Eval metadata
+- total_eval_time: 6h 40m 3s (24003.21s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000
+- checkpoint_name: checkpoint-100000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-100000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-100000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4600 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 10 | None
+CloseFridge: 82 | None
+CloseToasterOvenDoor: 68 | None
+CoffeeSetupMug: 38 | None
+NavigateKitchen: 20 | None
+OpenCabinet: 48 | None
+OpenDrawer: 44 | None
+OpenStandMixerHead: 88 | None
+PickPlaceCounterToCabinet: 46 | None
+PickPlaceCounterToStove: 54 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 76 | None
+PickPlaceToasterToCounter: 74 | None
+PickPlaceCabinetToCounter: 46 | None
+TurnOnElectricKettle: 74 | None
+TurnOnMicrowave: 28 | None
+TurnOffMicrowave: 34 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 68 | None
+TurnOnSinkFaucet: 56 | None
+TurnSinkSpout: 96 | None
+TurnOffSinkFaucet: 86 | None
+AdjustWaterTemperature: 40 | None
+TurnOffStove: 34 | None
+TurnOnStove: 40 | None
+AdjustToasterOvenTemperature: 24 | None
+AVG: 52.6 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
diff --git a/Atomic26_baseline_v2/checkpoint-120000/eval_20260622_101037_gpu1.log b/Atomic26_baseline_v2/checkpoint-120000/eval_20260622_101037_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..1856e47f45e02dc2f7c5b0cb5f1b8fb6827a4c73
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/eval_20260622_101037_gpu1.log
@@ -0,0 +1,5474 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.01it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.62it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.48it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4620
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: False; Cumulative success rate: 0.0
+EP 9 success: True; Cumulative success rate: 0.1111111111111111
+EP 10 success: True; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: True; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: False; Cumulative success rate: 0.19047619047619047
+EP 22 success: False; Cumulative success rate: 0.18181818181818182
+EP 23 success: False; Cumulative success rate: 0.17391304347826086
+EP 24 success: False; Cumulative success rate: 0.16666666666666666
+EP 25 success: False; Cumulative success rate: 0.16
+EP 26 success: False; Cumulative success rate: 0.15384615384615385
+EP 27 success: True; Cumulative success rate: 0.18518518518518517
+EP 28 success: False; Cumulative success rate: 0.17857142857142858
+EP 29 success: False; Cumulative success rate: 0.1724137931034483
+EP 30 success: True; Cumulative success rate: 0.2
+EP 31 success: True; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: True; Cumulative success rate: 0.23529411764705882
+EP 35 success: False; Cumulative success rate: 0.22857142857142856
+EP 36 success: False; Cumulative success rate: 0.2222222222222222
+EP 37 success: True; Cumulative success rate: 0.24324324324324326
+EP 38 success: True; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: False; Cumulative success rate: 0.25
+EP 41 success: False; Cumulative success rate: 0.24390243902439024
+EP 42 success: False; Cumulative success rate: 0.23809523809523808
+EP 43 success: True; Cumulative success rate: 0.2558139534883721
+EP 44 success: False; Cumulative success rate: 0.25
+EP 45 success: False; Cumulative success rate: 0.24444444444444444
+EP 46 success: True; Cumulative success rate: 0.2608695652173913
+EP 47 success: True; Cumulative success rate: 0.2765957446808511
+EP 48 success: False; Cumulative success rate: 0.2708333333333333
+EP 49 success: True; Cumulative success rate: 0.2857142857142857
+EP 50 success: False; Cumulative success rate: 0.28
+Collecting 50 episodes took 846.71 seconds
+Results for robocasa/AdjustToasterOvenTemperature:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: True; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: True; Cumulative success rate: 0.5625
+EP 17 success: True; Cumulative success rate: 0.5882352941176471
+EP 18 success: True; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: False; Cumulative success rate: 0.6
+EP 21 success: False; Cumulative success rate: 0.5714285714285714
+EP 22 success: True; Cumulative success rate: 0.5909090909090909
+EP 23 success: False; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: False; Cumulative success rate: 0.56
+EP 26 success: False; Cumulative success rate: 0.5384615384615384
+EP 27 success: True; Cumulative success rate: 0.5555555555555556
+EP 28 success: False; Cumulative success rate: 0.5357142857142857
+EP 29 success: False; Cumulative success rate: 0.5172413793103449
+EP 30 success: False; Cumulative success rate: 0.5
+EP 31 success: False; Cumulative success rate: 0.4838709677419355
+EP 32 success: False; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: True; Cumulative success rate: 0.47058823529411764
+EP 35 success: True; Cumulative success rate: 0.4857142857142857
+EP 36 success: False; Cumulative success rate: 0.4722222222222222
+EP 37 success: False; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: True; Cumulative success rate: 0.46153846153846156
+EP 40 success: False; Cumulative success rate: 0.45
+EP 41 success: True; Cumulative success rate: 0.4634146341463415
+EP 42 success: False; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: False; Cumulative success rate: 0.4318181818181818
+EP 45 success: False; Cumulative success rate: 0.4222222222222222
+EP 46 success: True; Cumulative success rate: 0.43478260869565216
+EP 47 success: False; Cumulative success rate: 0.425531914893617
+EP 48 success: False; Cumulative success rate: 0.4166666666666667
+EP 49 success: False; Cumulative success rate: 0.40816326530612246
+EP 50 success: True; Cumulative success rate: 0.42
+Collecting 50 episodes took 1090.78 seconds
+Results for robocasa/AdjustWaterTemperature:
+Success rate: 0.42
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustWaterTemperature/stats.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: True; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: False; Cumulative success rate: 0.125
+EP 17 success: False; Cumulative success rate: 0.11764705882352941
+EP 18 success: True; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: False; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: False; Cumulative success rate: 0.125
+EP 25 success: False; Cumulative success rate: 0.12
+EP 26 success: False; Cumulative success rate: 0.11538461538461539
+EP 27 success: False; Cumulative success rate: 0.1111111111111111
+EP 28 success: False; Cumulative success rate: 0.10714285714285714
+EP 29 success: False; Cumulative success rate: 0.10344827586206896
+EP 30 success: False; Cumulative success rate: 0.1
+EP 31 success: False; Cumulative success rate: 0.0967741935483871
+EP 32 success: False; Cumulative success rate: 0.09375
+EP 33 success: False; Cumulative success rate: 0.09090909090909091
+EP 34 success: False; Cumulative success rate: 0.08823529411764706
+EP 35 success: True; Cumulative success rate: 0.11428571428571428
+EP 36 success: False; Cumulative success rate: 0.1111111111111111
+EP 37 success: False; Cumulative success rate: 0.10810810810810811
+EP 38 success: False; Cumulative success rate: 0.10526315789473684
+EP 39 success: False; Cumulative success rate: 0.10256410256410256
+EP 40 success: False; Cumulative success rate: 0.1
+EP 41 success: False; Cumulative success rate: 0.0975609756097561
+EP 42 success: False; Cumulative success rate: 0.09523809523809523
+EP 43 success: True; Cumulative success rate: 0.11627906976744186
+EP 44 success: False; Cumulative success rate: 0.11363636363636363
+EP 45 success: False; Cumulative success rate: 0.1111111111111111
+EP 46 success: False; Cumulative success rate: 0.10869565217391304
+EP 47 success: False; Cumulative success rate: 0.10638297872340426
+EP 48 success: False; Cumulative success rate: 0.10416666666666667
+EP 49 success: False; Cumulative success rate: 0.10204081632653061
+EP 50 success: False; Cumulative success rate: 0.1
+Collecting 50 episodes took 1895.20 seconds
+Results for robocasa/CloseBlenderLid:
+Success rate: 0.10
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseBlenderLid/stats.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: True; Cumulative success rate: 0.8333333333333334
+EP 19 success: False; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: False; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: True; Cumulative success rate: 0.8148148148148148
+EP 28 success: True; Cumulative success rate: 0.8214285714285714
+EP 29 success: False; Cumulative success rate: 0.7931034482758621
+EP 30 success: True; Cumulative success rate: 0.8
+EP 31 success: True; Cumulative success rate: 0.8064516129032258
+EP 32 success: True; Cumulative success rate: 0.8125
+EP 33 success: True; Cumulative success rate: 0.8181818181818182
+EP 34 success: True; Cumulative success rate: 0.8235294117647058
+EP 35 success: False; Cumulative success rate: 0.8
+EP 36 success: False; Cumulative success rate: 0.7777777777777778
+EP 37 success: True; Cumulative success rate: 0.7837837837837838
+EP 38 success: True; Cumulative success rate: 0.7894736842105263
+EP 39 success: True; Cumulative success rate: 0.7948717948717948
+EP 40 success: True; Cumulative success rate: 0.8
+EP 41 success: True; Cumulative success rate: 0.8048780487804879
+EP 42 success: True; Cumulative success rate: 0.8095238095238095
+EP 43 success: True; Cumulative success rate: 0.813953488372093
+EP 44 success: False; Cumulative success rate: 0.7954545454545454
+EP 45 success: True; Cumulative success rate: 0.8
+EP 46 success: True; Cumulative success rate: 0.8043478260869565
+EP 47 success: True; Cumulative success rate: 0.8085106382978723
+EP 48 success: True; Cumulative success rate: 0.8125
+EP 49 success: False; Cumulative success rate: 0.7959183673469388
+EP 50 success: True; Cumulative success rate: 0.8
+Collecting 50 episodes took 1960.71 seconds
+Results for robocasa/CloseFridge:
+Success rate: 0.80
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseFridge/stats.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: False; Cumulative success rate: 0.7333333333333333
+EP 16 success: False; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: False; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: False; Cumulative success rate: 0.6363636363636364
+EP 23 success: True; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: True; Cumulative success rate: 0.6666666666666666
+EP 28 success: True; Cumulative success rate: 0.6785714285714286
+EP 29 success: True; Cumulative success rate: 0.6896551724137931
+EP 30 success: False; Cumulative success rate: 0.6666666666666666
+EP 31 success: False; Cumulative success rate: 0.6451612903225806
+EP 32 success: True; Cumulative success rate: 0.65625
+EP 33 success: True; Cumulative success rate: 0.6666666666666666
+EP 34 success: False; Cumulative success rate: 0.6470588235294118
+EP 35 success: True; Cumulative success rate: 0.6571428571428571
+EP 36 success: True; Cumulative success rate: 0.6666666666666666
+EP 37 success: True; Cumulative success rate: 0.6756756756756757
+EP 38 success: True; Cumulative success rate: 0.6842105263157895
+EP 39 success: False; Cumulative success rate: 0.6666666666666666
+EP 40 success: True; Cumulative success rate: 0.675
+EP 41 success: True; Cumulative success rate: 0.6829268292682927
+EP 42 success: False; Cumulative success rate: 0.6666666666666666
+EP 43 success: True; Cumulative success rate: 0.6744186046511628
+EP 44 success: False; Cumulative success rate: 0.6590909090909091
+EP 45 success: True; Cumulative success rate: 0.6666666666666666
+EP 46 success: False; Cumulative success rate: 0.6521739130434783
+EP 47 success: True; Cumulative success rate: 0.6595744680851063
+EP 48 success: False; Cumulative success rate: 0.6458333333333334
+EP 49 success: True; Cumulative success rate: 0.6530612244897959
+EP 50 success: True; Cumulative success rate: 0.66
+Collecting 50 episodes took 1012.41 seconds
+Results for robocasa/CloseToasterOvenDoor:
+Success rate: 0.66
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseToasterOvenDoor/stats.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: True; Cumulative success rate: 0.2857142857142857
+EP 8 success: True; Cumulative success rate: 0.375
+EP 9 success: True; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: False; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: True; Cumulative success rate: 0.42857142857142855
+EP 15 success: True; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: False; Cumulative success rate: 0.391304347826087
+EP 24 success: True; Cumulative success rate: 0.4166666666666667
+EP 25 success: True; Cumulative success rate: 0.44
+EP 26 success: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: True; Cumulative success rate: 0.4444444444444444
+EP 28 success: False; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: True; Cumulative success rate: 0.3888888888888889
+EP 37 success: False; Cumulative success rate: 0.3783783783783784
+EP 38 success: False; Cumulative success rate: 0.3684210526315789
+EP 39 success: True; Cumulative success rate: 0.38461538461538464
+EP 40 success: False; Cumulative success rate: 0.375
+EP 41 success: False; Cumulative success rate: 0.36585365853658536
+EP 42 success: True; Cumulative success rate: 0.38095238095238093
+EP 43 success: True; Cumulative success rate: 0.3953488372093023
+EP 44 success: False; Cumulative success rate: 0.38636363636363635
+EP 45 success: True; Cumulative success rate: 0.4
+EP 46 success: False; Cumulative success rate: 0.391304347826087
+EP 47 success: True; Cumulative success rate: 0.40425531914893614
+EP 48 success: True; Cumulative success rate: 0.4166666666666667
+EP 49 success: False; Cumulative success rate: 0.40816326530612246
+EP 50 success: False; Cumulative success rate: 0.4
+Collecting 50 episodes took 1298.26 seconds
+Results for robocasa/CoffeeSetupMug:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CoffeeSetupMug/stats.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: True; Cumulative success rate: 0.5
+EP 9 success: True; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: False; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: False; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: True; Cumulative success rate: 0.5
+EP 19 success: True; Cumulative success rate: 0.5263157894736842
+EP 20 success: True; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: True; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: False; Cumulative success rate: 0.56
+EP 26 success: False; Cumulative success rate: 0.5384615384615384
+EP 27 success: False; Cumulative success rate: 0.5185185185185185
+EP 28 success: True; Cumulative success rate: 0.5357142857142857
+EP 29 success: True; Cumulative success rate: 0.5517241379310345
+EP 30 success: False; Cumulative success rate: 0.5333333333333333
+EP 31 success: False; Cumulative success rate: 0.5161290322580645
+EP 32 success: False; Cumulative success rate: 0.5
+EP 33 success: False; Cumulative success rate: 0.48484848484848486
+EP 34 success: False; Cumulative success rate: 0.47058823529411764
+EP 35 success: False; Cumulative success rate: 0.45714285714285713
+EP 36 success: True; Cumulative success rate: 0.4722222222222222
+EP 37 success: False; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: False; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: False; Cumulative success rate: 0.4
+EP 46 success: True; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: False; Cumulative success rate: 0.3877551020408163
+EP 50 success: True; Cumulative success rate: 0.4
+Collecting 50 episodes took 1008.63 seconds
+Results for robocasa/NavigateKitchen:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/NavigateKitchen/stats.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: False; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: False; Cumulative success rate: 0.6818181818181818
+EP 23 success: False; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: False; Cumulative success rate: 0.6153846153846154
+EP 27 success: False; Cumulative success rate: 0.5925925925925926
+EP 28 success: True; Cumulative success rate: 0.6071428571428571
+EP 29 success: False; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: False; Cumulative success rate: 0.5483870967741935
+EP 32 success: True; Cumulative success rate: 0.5625
+EP 33 success: False; Cumulative success rate: 0.5454545454545454
+EP 34 success: True; Cumulative success rate: 0.5588235294117647
+EP 35 success: False; Cumulative success rate: 0.5428571428571428
+EP 36 success: True; Cumulative success rate: 0.5555555555555556
+EP 37 success: False; Cumulative success rate: 0.5405405405405406
+EP 38 success: True; Cumulative success rate: 0.5526315789473685
+EP 39 success: True; Cumulative success rate: 0.5641025641025641
+EP 40 success: False; Cumulative success rate: 0.55
+EP 41 success: False; Cumulative success rate: 0.5365853658536586
+EP 42 success: True; Cumulative success rate: 0.5476190476190477
+EP 43 success: True; Cumulative success rate: 0.5581395348837209
+EP 44 success: False; Cumulative success rate: 0.5454545454545454
+EP 45 success: False; Cumulative success rate: 0.5333333333333333
+EP 46 success: True; Cumulative success rate: 0.5434782608695652
+EP 47 success: True; Cumulative success rate: 0.5531914893617021
+EP 48 success: False; Cumulative success rate: 0.5416666666666666
+EP 49 success: False; Cumulative success rate: 0.5306122448979592
+EP 50 success: True; Cumulative success rate: 0.54
+Collecting 50 episodes took 2202.27 seconds
+Results for robocasa/OpenCabinet:
+Success rate: 0.54
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenCabinet/stats.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: False; Cumulative success rate: 0.5714285714285714
+EP 15 success: True; Cumulative success rate: 0.6
+EP 16 success: False; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: True; Cumulative success rate: 0.5789473684210527
+EP 20 success: False; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: True; Cumulative success rate: 0.5
+EP 27 success: True; Cumulative success rate: 0.5185185185185185
+EP 28 success: False; Cumulative success rate: 0.5
+EP 29 success: True; Cumulative success rate: 0.5172413793103449
+EP 30 success: True; Cumulative success rate: 0.5333333333333333
+EP 31 success: True; Cumulative success rate: 0.5483870967741935
+EP 32 success: True; Cumulative success rate: 0.5625
+EP 33 success: False; Cumulative success rate: 0.5454545454545454
+EP 34 success: False; Cumulative success rate: 0.5294117647058824
+EP 35 success: True; Cumulative success rate: 0.5428571428571428
+EP 36 success: False; Cumulative success rate: 0.5277777777777778
+EP 37 success: True; Cumulative success rate: 0.5405405405405406
+EP 38 success: True; Cumulative success rate: 0.5526315789473685
+EP 39 success: False; Cumulative success rate: 0.5384615384615384
+EP 40 success: False; Cumulative success rate: 0.525
+EP 41 success: False; Cumulative success rate: 0.5121951219512195
+EP 42 success: True; Cumulative success rate: 0.5238095238095238
+EP 43 success: False; Cumulative success rate: 0.5116279069767442
+EP 44 success: False; Cumulative success rate: 0.5
+EP 45 success: True; Cumulative success rate: 0.5111111111111111
+EP 46 success: False; Cumulative success rate: 0.5
+EP 47 success: False; Cumulative success rate: 0.48936170212765956
+EP 48 success: False; Cumulative success rate: 0.4791666666666667
+EP 49 success: False; Cumulative success rate: 0.46938775510204084
+EP 50 success: True; Cumulative success rate: 0.48
+Collecting 50 episodes took 1626.51 seconds
+Results for robocasa/OpenDrawer:
+Success rate: 0.48
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenDrawer/stats.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: False; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: True; Cumulative success rate: 0.6
+EP 16 success: True; Cumulative success rate: 0.625
+EP 17 success: False; Cumulative success rate: 0.5882352941176471
+EP 18 success: False; Cumulative success rate: 0.5555555555555556
+EP 19 success: False; Cumulative success rate: 0.5263157894736842
+EP 20 success: True; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: True; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: False; Cumulative success rate: 0.56
+EP 26 success: True; Cumulative success rate: 0.5769230769230769
+EP 27 success: True; Cumulative success rate: 0.5925925925925926
+EP 28 success: False; Cumulative success rate: 0.5714285714285714
+EP 29 success: True; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: False; Cumulative success rate: 0.5483870967741935
+EP 32 success: True; Cumulative success rate: 0.5625
+EP 33 success: True; Cumulative success rate: 0.5757575757575758
+EP 34 success: True; Cumulative success rate: 0.5882352941176471
+EP 35 success: True; Cumulative success rate: 0.6
+EP 36 success: True; Cumulative success rate: 0.6111111111111112
+EP 37 success: True; Cumulative success rate: 0.6216216216216216
+EP 38 success: True; Cumulative success rate: 0.631578947368421
+EP 39 success: True; Cumulative success rate: 0.6410256410256411
+EP 40 success: False; Cumulative success rate: 0.625
+EP 41 success: True; Cumulative success rate: 0.6341463414634146
+EP 42 success: False; Cumulative success rate: 0.6190476190476191
+EP 43 success: True; Cumulative success rate: 0.627906976744186
+EP 44 success: True; Cumulative success rate: 0.6363636363636364
+EP 45 success: True; Cumulative success rate: 0.6444444444444445
+EP 46 success: False; Cumulative success rate: 0.6304347826086957
+EP 47 success: True; Cumulative success rate: 0.6382978723404256
+EP 48 success: False; Cumulative success rate: 0.625
+EP 49 success: False; Cumulative success rate: 0.6122448979591837
+EP 50 success: True; Cumulative success rate: 0.62
+Collecting 50 episodes took 713.21 seconds
+Results for robocasa/OpenElectricKettleLid:
+Success rate: 0.62
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenElectricKettleLid/stats.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: True; Cumulative success rate: 0.95
+EP 21 success: True; Cumulative success rate: 0.9523809523809523
+EP 22 success: True; Cumulative success rate: 0.9545454545454546
+EP 23 success: True; Cumulative success rate: 0.9565217391304348
+EP 24 success: True; Cumulative success rate: 0.9583333333333334
+EP 25 success: True; Cumulative success rate: 0.96
+EP 26 success: True; Cumulative success rate: 0.9615384615384616
+EP 27 success: False; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: True; Cumulative success rate: 0.9354838709677419
+EP 32 success: True; Cumulative success rate: 0.9375
+EP 33 success: False; Cumulative success rate: 0.9090909090909091
+EP 34 success: True; Cumulative success rate: 0.9117647058823529
+EP 35 success: True; Cumulative success rate: 0.9142857142857143
+EP 36 success: True; Cumulative success rate: 0.9166666666666666
+EP 37 success: True; Cumulative success rate: 0.918918918918919
+EP 38 success: False; Cumulative success rate: 0.8947368421052632
+EP 39 success: True; Cumulative success rate: 0.8974358974358975
+EP 40 success: False; Cumulative success rate: 0.875
+EP 41 success: True; Cumulative success rate: 0.8780487804878049
+EP 42 success: True; Cumulative success rate: 0.8809523809523809
+EP 43 success: True; Cumulative success rate: 0.8837209302325582
+EP 44 success: True; Cumulative success rate: 0.8863636363636364
+EP 45 success: True; Cumulative success rate: 0.8888888888888888
+EP 46 success: True; Cumulative success rate: 0.8913043478260869
+EP 47 success: True; Cumulative success rate: 0.8936170212765957
+EP 48 success: True; Cumulative success rate: 0.8958333333333334
+EP 49 success: True; Cumulative success rate: 0.8979591836734694
+EP 50 success: True; Cumulative success rate: 0.9
+Collecting 50 episodes took 889.87 seconds
+Results for robocasa/OpenStandMixerHead:
+Success rate: 0.90
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenStandMixerHead/stats.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: False; Cumulative success rate: 0.42857142857142855
+EP 15 success: True; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: True; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: False; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: True; Cumulative success rate: 0.52
+EP 26 success: True; Cumulative success rate: 0.5384615384615384
+EP 27 success: True; Cumulative success rate: 0.5555555555555556
+EP 28 success: True; Cumulative success rate: 0.5714285714285714
+EP 29 success: True; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: False; Cumulative success rate: 0.5483870967741935
+EP 32 success: False; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: True; Cumulative success rate: 0.5294117647058824
+EP 35 success: False; Cumulative success rate: 0.5142857142857142
+EP 36 success: False; Cumulative success rate: 0.5
+EP 37 success: False; Cumulative success rate: 0.4864864864864865
+EP 38 success: True; Cumulative success rate: 0.5
+EP 39 success: False; Cumulative success rate: 0.48717948717948717
+EP 40 success: False; Cumulative success rate: 0.475
+EP 41 success: True; Cumulative success rate: 0.4878048780487805
+EP 42 success: True; Cumulative success rate: 0.5
+EP 43 success: True; Cumulative success rate: 0.5116279069767442
+EP 44 success: True; Cumulative success rate: 0.5227272727272727
+EP 45 success: False; Cumulative success rate: 0.5111111111111111
+EP 46 success: False; Cumulative success rate: 0.5
+EP 47 success: False; Cumulative success rate: 0.48936170212765956
+EP 48 success: False; Cumulative success rate: 0.4791666666666667
+EP 49 success: True; Cumulative success rate: 0.4897959183673469
+EP 50 success: True; Cumulative success rate: 0.5
+Collecting 50 episodes took 912.90 seconds
+Results for robocasa/PickPlaceCabinetToCounter:
+Success rate: 0.50
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: False; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: True; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: False; Cumulative success rate: 0.38095238095238093
+EP 22 success: False; Cumulative success rate: 0.36363636363636365
+EP 23 success: False; Cumulative success rate: 0.34782608695652173
+EP 24 success: True; Cumulative success rate: 0.375
+EP 25 success: True; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: True; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: True; Cumulative success rate: 0.4
+EP 36 success: True; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: False; Cumulative success rate: 0.38461538461538464
+EP 40 success: True; Cumulative success rate: 0.4
+EP 41 success: True; Cumulative success rate: 0.4146341463414634
+EP 42 success: True; Cumulative success rate: 0.42857142857142855
+EP 43 success: True; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: False; Cumulative success rate: 0.4444444444444444
+EP 46 success: True; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: True; Cumulative success rate: 0.46
+Collecting 50 episodes took 1283.48 seconds
+Results for robocasa/PickPlaceCounterToCabinet:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: True; Cumulative success rate: 0.26666666666666666
+EP 16 success: False; Cumulative success rate: 0.25
+EP 17 success: True; Cumulative success rate: 0.29411764705882354
+EP 18 success: True; Cumulative success rate: 0.3333333333333333
+EP 19 success: False; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: False; Cumulative success rate: 0.2857142857142857
+EP 22 success: True; Cumulative success rate: 0.3181818181818182
+EP 23 success: True; Cumulative success rate: 0.34782608695652173
+EP 24 success: True; Cumulative success rate: 0.375
+EP 25 success: False; Cumulative success rate: 0.36
+EP 26 success: True; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: True; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: True; Cumulative success rate: 0.43333333333333335
+EP 31 success: True; Cumulative success rate: 0.45161290322580644
+EP 32 success: False; Cumulative success rate: 0.4375
+EP 33 success: False; Cumulative success rate: 0.42424242424242425
+EP 34 success: False; Cumulative success rate: 0.4117647058823529
+EP 35 success: True; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: True; Cumulative success rate: 0.41025641025641024
+EP 40 success: True; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: True; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: False; Cumulative success rate: 0.4318181818181818
+EP 45 success: True; Cumulative success rate: 0.4444444444444444
+EP 46 success: False; Cumulative success rate: 0.43478260869565216
+EP 47 success: True; Cumulative success rate: 0.44680851063829785
+EP 48 success: True; Cumulative success rate: 0.4583333333333333
+EP 49 success: False; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 1043.54 seconds
+Results for robocasa/PickPlaceCounterToStove:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToStove/stats.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: True; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: True; Cumulative success rate: 0.25
+EP 17 success: False; Cumulative success rate: 0.23529411764705882
+EP 18 success: True; Cumulative success rate: 0.2777777777777778
+EP 19 success: True; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: False; Cumulative success rate: 0.2857142857142857
+EP 22 success: False; Cumulative success rate: 0.2727272727272727
+EP 23 success: False; Cumulative success rate: 0.2608695652173913
+EP 24 success: False; Cumulative success rate: 0.25
+EP 25 success: True; Cumulative success rate: 0.28
+EP 26 success: False; Cumulative success rate: 0.2692307692307692
+EP 27 success: True; Cumulative success rate: 0.2962962962962963
+EP 28 success: False; Cumulative success rate: 0.2857142857142857
+EP 29 success: True; Cumulative success rate: 0.3103448275862069
+EP 30 success: True; Cumulative success rate: 0.3333333333333333
+EP 31 success: False; Cumulative success rate: 0.3225806451612903
+EP 32 success: True; Cumulative success rate: 0.34375
+EP 33 success: True; Cumulative success rate: 0.36363636363636365
+EP 34 success: False; Cumulative success rate: 0.35294117647058826
+EP 35 success: True; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: True; Cumulative success rate: 0.3684210526315789
+EP 39 success: False; Cumulative success rate: 0.358974358974359
+EP 40 success: False; Cumulative success rate: 0.35
+EP 41 success: True; Cumulative success rate: 0.36585365853658536
+EP 42 success: True; Cumulative success rate: 0.38095238095238093
+EP 43 success: True; Cumulative success rate: 0.3953488372093023
+EP 44 success: True; Cumulative success rate: 0.4090909090909091
+EP 45 success: True; Cumulative success rate: 0.4222222222222222
+EP 46 success: True; Cumulative success rate: 0.43478260869565216
+EP 47 success: False; Cumulative success rate: 0.425531914893617
+EP 48 success: False; Cumulative success rate: 0.4166666666666667
+EP 49 success: False; Cumulative success rate: 0.40816326530612246
+EP 50 success: False; Cumulative success rate: 0.4
+Collecting 50 episodes took 1228.65 seconds
+Results for robocasa/PickPlaceDrawerToCounter:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: False; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: False; Cumulative success rate: 0.7142857142857143
+EP 15 success: False; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: True; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: False; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: True; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: True; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: False; Cumulative success rate: 0.7307692307692307
+EP 27 success: True; Cumulative success rate: 0.7407407407407407
+EP 28 success: True; Cumulative success rate: 0.75
+EP 29 success: False; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: False; Cumulative success rate: 0.71875
+EP 33 success: True; Cumulative success rate: 0.7272727272727273
+EP 34 success: False; Cumulative success rate: 0.7058823529411765
+EP 35 success: True; Cumulative success rate: 0.7142857142857143
+EP 36 success: True; Cumulative success rate: 0.7222222222222222
+EP 37 success: False; Cumulative success rate: 0.7027027027027027
+EP 38 success: True; Cumulative success rate: 0.7105263157894737
+EP 39 success: False; Cumulative success rate: 0.6923076923076923
+EP 40 success: False; Cumulative success rate: 0.675
+EP 41 success: False; Cumulative success rate: 0.6585365853658537
+EP 42 success: False; Cumulative success rate: 0.6428571428571429
+EP 43 success: False; Cumulative success rate: 0.627906976744186
+EP 44 success: True; Cumulative success rate: 0.6363636363636364
+EP 45 success: True; Cumulative success rate: 0.6444444444444445
+EP 46 success: True; Cumulative success rate: 0.6521739130434783
+EP 47 success: False; Cumulative success rate: 0.6382978723404256
+EP 48 success: False; Cumulative success rate: 0.625
+EP 49 success: True; Cumulative success rate: 0.6326530612244898
+EP 50 success: True; Cumulative success rate: 0.64
+Collecting 50 episodes took 833.56 seconds
+Results for robocasa/PickPlaceSinkToCounter:
+Success rate: 0.64
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceSinkToCounter/stats.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: True; Cumulative success rate: 0.8333333333333334
+EP 19 success: True; Cumulative success rate: 0.8421052631578947
+EP 20 success: True; Cumulative success rate: 0.85
+EP 21 success: True; Cumulative success rate: 0.8571428571428571
+EP 22 success: False; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: True; Cumulative success rate: 0.8333333333333334
+EP 25 success: False; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: False; Cumulative success rate: 0.7777777777777778
+EP 28 success: True; Cumulative success rate: 0.7857142857142857
+EP 29 success: True; Cumulative success rate: 0.7931034482758621
+EP 30 success: True; Cumulative success rate: 0.8
+EP 31 success: False; Cumulative success rate: 0.7741935483870968
+EP 32 success: True; Cumulative success rate: 0.78125
+EP 33 success: True; Cumulative success rate: 0.7878787878787878
+EP 34 success: True; Cumulative success rate: 0.7941176470588235
+EP 35 success: False; Cumulative success rate: 0.7714285714285715
+EP 36 success: False; Cumulative success rate: 0.75
+EP 37 success: True; Cumulative success rate: 0.7567567567567568
+EP 38 success: True; Cumulative success rate: 0.7631578947368421
+EP 39 success: True; Cumulative success rate: 0.7692307692307693
+EP 40 success: True; Cumulative success rate: 0.775
+EP 41 success: True; Cumulative success rate: 0.7804878048780488
+EP 42 success: False; Cumulative success rate: 0.7619047619047619
+EP 43 success: True; Cumulative success rate: 0.7674418604651163
+EP 44 success: True; Cumulative success rate: 0.7727272727272727
+EP 45 success: True; Cumulative success rate: 0.7777777777777778
+EP 46 success: True; Cumulative success rate: 0.782608695652174
+EP 47 success: True; Cumulative success rate: 0.7872340425531915
+EP 48 success: True; Cumulative success rate: 0.7916666666666666
+EP 49 success: True; Cumulative success rate: 0.7959183673469388
+EP 50 success: True; Cumulative success rate: 0.8
+Collecting 50 episodes took 572.85 seconds
+Results for robocasa/PickPlaceToasterToCounter:
+Success rate: 0.80
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceToasterToCounter/stats.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: False; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: False; Cumulative success rate: 0.8125
+EP 17 success: False; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: False; Cumulative success rate: 0.7368421052631579
+EP 20 success: False; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: True; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: False; Cumulative success rate: 0.7083333333333334
+EP 25 success: True; Cumulative success rate: 0.72
+EP 26 success: True; Cumulative success rate: 0.7307692307692307
+EP 27 success: False; Cumulative success rate: 0.7037037037037037
+EP 28 success: True; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: False; Cumulative success rate: 0.7352941176470589
+EP 35 success: True; Cumulative success rate: 0.7428571428571429
+EP 36 success: True; Cumulative success rate: 0.75
+EP 37 success: False; Cumulative success rate: 0.7297297297297297
+EP 38 success: False; Cumulative success rate: 0.7105263157894737
+EP 39 success: True; Cumulative success rate: 0.717948717948718
+EP 40 success: True; Cumulative success rate: 0.725
+EP 41 success: True; Cumulative success rate: 0.7317073170731707
+EP 42 success: True; Cumulative success rate: 0.7380952380952381
+EP 43 success: False; Cumulative success rate: 0.7209302325581395
+EP 44 success: True; Cumulative success rate: 0.7272727272727273
+EP 45 success: True; Cumulative success rate: 0.7333333333333333
+EP 46 success: True; Cumulative success rate: 0.7391304347826086
+EP 47 success: True; Cumulative success rate: 0.7446808510638298
+EP 48 success: True; Cumulative success rate: 0.75
+EP 49 success: True; Cumulative success rate: 0.7551020408163265
+EP 50 success: False; Cumulative success rate: 0.74
+Collecting 50 episodes took 381.74 seconds
+Results for robocasa/SlideDishwasherRack:
+Success rate: 0.74
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/SlideDishwasherRack/stats.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: True; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: True; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: True; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: False; Cumulative success rate: 0.16666666666666666
+EP 19 success: True; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: True; Cumulative success rate: 0.23809523809523808
+EP 22 success: True; Cumulative success rate: 0.2727272727272727
+EP 23 success: True; Cumulative success rate: 0.30434782608695654
+EP 24 success: False; Cumulative success rate: 0.2916666666666667
+EP 25 success: True; Cumulative success rate: 0.32
+EP 26 success: False; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: False; Cumulative success rate: 0.2857142857142857
+EP 29 success: False; Cumulative success rate: 0.27586206896551724
+EP 30 success: False; Cumulative success rate: 0.26666666666666666
+EP 31 success: False; Cumulative success rate: 0.25806451612903225
+EP 32 success: False; Cumulative success rate: 0.25
+EP 33 success: True; Cumulative success rate: 0.2727272727272727
+EP 34 success: False; Cumulative success rate: 0.2647058823529412
+EP 35 success: False; Cumulative success rate: 0.2571428571428571
+EP 36 success: True; Cumulative success rate: 0.2777777777777778
+EP 37 success: False; Cumulative success rate: 0.2702702702702703
+EP 38 success: False; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: True; Cumulative success rate: 0.275
+EP 41 success: False; Cumulative success rate: 0.2682926829268293
+EP 42 success: False; Cumulative success rate: 0.2619047619047619
+EP 43 success: False; Cumulative success rate: 0.2558139534883721
+EP 44 success: True; Cumulative success rate: 0.2727272727272727
+EP 45 success: False; Cumulative success rate: 0.26666666666666666
+EP 46 success: False; Cumulative success rate: 0.2608695652173913
+EP 47 success: True; Cumulative success rate: 0.2765957446808511
+EP 48 success: True; Cumulative success rate: 0.2916666666666667
+EP 49 success: False; Cumulative success rate: 0.2857142857142857
+EP 50 success: False; Cumulative success rate: 0.28
+Collecting 50 episodes took 313.61 seconds
+Results for robocasa/TurnOffMicrowave:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffMicrowave/stats.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: False; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: False; Cumulative success rate: 0.9
+EP 21 success: False; Cumulative success rate: 0.8571428571428571
+EP 22 success: True; Cumulative success rate: 0.8636363636363636
+EP 23 success: True; Cumulative success rate: 0.8695652173913043
+EP 24 success: True; Cumulative success rate: 0.875
+EP 25 success: True; Cumulative success rate: 0.88
+EP 26 success: True; Cumulative success rate: 0.8846153846153846
+EP 27 success: False; Cumulative success rate: 0.8518518518518519
+EP 28 success: True; Cumulative success rate: 0.8571428571428571
+EP 29 success: True; Cumulative success rate: 0.8620689655172413
+EP 30 success: True; Cumulative success rate: 0.8666666666666667
+EP 31 success: False; Cumulative success rate: 0.8387096774193549
+EP 32 success: True; Cumulative success rate: 0.84375
+EP 33 success: True; Cumulative success rate: 0.8484848484848485
+EP 34 success: True; Cumulative success rate: 0.8529411764705882
+EP 35 success: True; Cumulative success rate: 0.8571428571428571
+EP 36 success: True; Cumulative success rate: 0.8611111111111112
+EP 37 success: True; Cumulative success rate: 0.8648648648648649
+EP 38 success: True; Cumulative success rate: 0.868421052631579
+EP 39 success: True; Cumulative success rate: 0.8717948717948718
+EP 40 success: True; Cumulative success rate: 0.875
+EP 41 success: True; Cumulative success rate: 0.8780487804878049
+EP 42 success: True; Cumulative success rate: 0.8809523809523809
+EP 43 success: True; Cumulative success rate: 0.8837209302325582
+EP 44 success: True; Cumulative success rate: 0.8863636363636364
+EP 45 success: True; Cumulative success rate: 0.8888888888888888
+EP 46 success: True; Cumulative success rate: 0.8913043478260869
+EP 47 success: True; Cumulative success rate: 0.8936170212765957
+EP 48 success: True; Cumulative success rate: 0.8958333333333334
+EP 49 success: False; Cumulative success rate: 0.8775510204081632
+EP 50 success: True; Cumulative success rate: 0.88
+Collecting 50 episodes took 462.49 seconds
+Results for robocasa/TurnOffSinkFaucet:
+Success rate: 0.88
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffSinkFaucet/stats.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: True; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: True; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: True; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: True; Cumulative success rate: 0.23809523809523808
+EP 22 success: True; Cumulative success rate: 0.2727272727272727
+EP 23 success: False; Cumulative success rate: 0.2608695652173913
+EP 24 success: False; Cumulative success rate: 0.25
+EP 25 success: False; Cumulative success rate: 0.24
+EP 26 success: False; Cumulative success rate: 0.23076923076923078
+EP 27 success: False; Cumulative success rate: 0.2222222222222222
+EP 28 success: False; Cumulative success rate: 0.21428571428571427
+EP 29 success: True; Cumulative success rate: 0.2413793103448276
+EP 30 success: True; Cumulative success rate: 0.26666666666666666
+EP 31 success: False; Cumulative success rate: 0.25806451612903225
+EP 32 success: False; Cumulative success rate: 0.25
+EP 33 success: True; Cumulative success rate: 0.2727272727272727
+EP 34 success: True; Cumulative success rate: 0.29411764705882354
+EP 35 success: False; Cumulative success rate: 0.2857142857142857
+EP 36 success: False; Cumulative success rate: 0.2777777777777778
+EP 37 success: True; Cumulative success rate: 0.2972972972972973
+EP 38 success: False; Cumulative success rate: 0.2894736842105263
+EP 39 success: False; Cumulative success rate: 0.28205128205128205
+EP 40 success: False; Cumulative success rate: 0.275
+EP 41 success: True; Cumulative success rate: 0.2926829268292683
+EP 42 success: False; Cumulative success rate: 0.2857142857142857
+EP 43 success: False; Cumulative success rate: 0.27906976744186046
+EP 44 success: True; Cumulative success rate: 0.29545454545454547
+EP 45 success: False; Cumulative success rate: 0.28888888888888886
+EP 46 success: False; Cumulative success rate: 0.2826086956521739
+EP 47 success: False; Cumulative success rate: 0.2765957446808511
+EP 48 success: False; Cumulative success rate: 0.2708333333333333
+EP 49 success: False; Cumulative success rate: 0.2653061224489796
+EP 50 success: False; Cumulative success rate: 0.26
+Collecting 50 episodes took 662.11 seconds
+Results for robocasa/TurnOffStove:
+Success rate: 0.26
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffStove/stats.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: False; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: False; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: False; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: True; Cumulative success rate: 0.7083333333333334
+EP 25 success: True; Cumulative success rate: 0.72
+EP 26 success: True; Cumulative success rate: 0.7307692307692307
+EP 27 success: True; Cumulative success rate: 0.7407407407407407
+EP 28 success: False; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: True; Cumulative success rate: 0.7647058823529411
+EP 35 success: True; Cumulative success rate: 0.7714285714285715
+EP 36 success: False; Cumulative success rate: 0.75
+EP 37 success: True; Cumulative success rate: 0.7567567567567568
+EP 38 success: True; Cumulative success rate: 0.7631578947368421
+EP 39 success: True; Cumulative success rate: 0.7692307692307693
+EP 40 success: False; Cumulative success rate: 0.75
+EP 41 success: False; Cumulative success rate: 0.7317073170731707
+EP 42 success: False; Cumulative success rate: 0.7142857142857143
+EP 43 success: True; Cumulative success rate: 0.7209302325581395
+EP 44 success: True; Cumulative success rate: 0.7272727272727273
+EP 45 success: True; Cumulative success rate: 0.7333333333333333
+EP 46 success: False; Cumulative success rate: 0.717391304347826
+EP 47 success: False; Cumulative success rate: 0.7021276595744681
+EP 48 success: True; Cumulative success rate: 0.7083333333333334
+EP 49 success: True; Cumulative success rate: 0.7142857142857143
+EP 50 success: True; Cumulative success rate: 0.72
+Collecting 50 episodes took 394.41 seconds
+Results for robocasa/TurnOnElectricKettle:
+Success rate: 0.72
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnElectricKettle/stats.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: True; Cumulative success rate: 0.2857142857142857
+EP 15 success: False; Cumulative success rate: 0.26666666666666666
+EP 16 success: False; Cumulative success rate: 0.25
+EP 17 success: False; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: True; Cumulative success rate: 0.23809523809523808
+EP 22 success: False; Cumulative success rate: 0.22727272727272727
+EP 23 success: False; Cumulative success rate: 0.21739130434782608
+EP 24 success: False; Cumulative success rate: 0.20833333333333334
+EP 25 success: False; Cumulative success rate: 0.2
+EP 26 success: False; Cumulative success rate: 0.19230769230769232
+EP 27 success: True; Cumulative success rate: 0.2222222222222222
+EP 28 success: False; Cumulative success rate: 0.21428571428571427
+EP 29 success: False; Cumulative success rate: 0.20689655172413793
+EP 30 success: True; Cumulative success rate: 0.23333333333333334
+EP 31 success: False; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: True; Cumulative success rate: 0.23529411764705882
+EP 35 success: False; Cumulative success rate: 0.22857142857142856
+EP 36 success: True; Cumulative success rate: 0.25
+EP 37 success: False; Cumulative success rate: 0.24324324324324326
+EP 38 success: False; Cumulative success rate: 0.23684210526315788
+EP 39 success: False; Cumulative success rate: 0.23076923076923078
+EP 40 success: True; Cumulative success rate: 0.25
+EP 41 success: True; Cumulative success rate: 0.2682926829268293
+EP 42 success: True; Cumulative success rate: 0.2857142857142857
+EP 43 success: False; Cumulative success rate: 0.27906976744186046
+EP 44 success: False; Cumulative success rate: 0.2727272727272727
+EP 45 success: False; Cumulative success rate: 0.26666666666666666
+EP 46 success: False; Cumulative success rate: 0.2608695652173913
+EP 47 success: True; Cumulative success rate: 0.2765957446808511
+EP 48 success: True; Cumulative success rate: 0.2916666666666667
+EP 49 success: True; Cumulative success rate: 0.30612244897959184
+EP 50 success: False; Cumulative success rate: 0.3
+Collecting 50 episodes took 428.95 seconds
+Results for robocasa/TurnOnMicrowave:
+Success rate: 0.30
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnMicrowave/stats.json
+
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: False; Cumulative success rate: 0.42857142857142855
+EP 15 success: False; Cumulative success rate: 0.4
+EP 16 success: False; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: False; Cumulative success rate: 0.3333333333333333
+EP 19 success: False; Cumulative success rate: 0.3157894736842105
+EP 20 success: True; Cumulative success rate: 0.35
+EP 21 success: True; Cumulative success rate: 0.38095238095238093
+EP 22 success: False; Cumulative success rate: 0.36363636363636365
+EP 23 success: True; Cumulative success rate: 0.391304347826087
+EP 24 success: True; Cumulative success rate: 0.4166666666666667
+EP 25 success: True; Cumulative success rate: 0.44
+EP 26 success: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: True; Cumulative success rate: 0.4444444444444444
+EP 28 success: True; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: True; Cumulative success rate: 0.4666666666666667
+EP 31 success: True; Cumulative success rate: 0.4838709677419355
+EP 32 success: True; Cumulative success rate: 0.5
+EP 33 success: True; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: False; Cumulative success rate: 0.4857142857142857
+EP 36 success: True; Cumulative success rate: 0.5
+EP 37 success: True; Cumulative success rate: 0.5135135135135135
+EP 38 success: True; Cumulative success rate: 0.5263157894736842
+EP 39 success: False; Cumulative success rate: 0.5128205128205128
+EP 40 success: True; Cumulative success rate: 0.525
+EP 41 success: True; Cumulative success rate: 0.5365853658536586
+EP 42 success: True; Cumulative success rate: 0.5476190476190477
+EP 43 success: True; Cumulative success rate: 0.5581395348837209
+EP 44 success: False; Cumulative success rate: 0.5454545454545454
+EP 45 success: True; Cumulative success rate: 0.5555555555555556
+EP 46 success: False; Cumulative success rate: 0.5434782608695652
+EP 47 success: False; Cumulative success rate: 0.5319148936170213
+EP 48 success: False; Cumulative success rate: 0.5208333333333334
+EP 49 success: True; Cumulative success rate: 0.5306122448979592
+EP 50 success: False; Cumulative success rate: 0.52
+Collecting 50 episodes took 639.42 seconds
+Results for robocasa/TurnOnSinkFaucet:
+Success rate: 0.52
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnSinkFaucet/stats.json
+
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: True; Cumulative success rate: 0.4166666666666667
+EP 13 success: True; Cumulative success rate: 0.46153846153846156
+EP 14 success: False; Cumulative success rate: 0.42857142857142855
+EP 15 success: False; Cumulative success rate: 0.4
+EP 16 success: True; Cumulative success rate: 0.4375
+EP 17 success: True; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: True; Cumulative success rate: 0.4583333333333333
+EP 25 success: False; Cumulative success rate: 0.44
+EP 26 success: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: False; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: False; Cumulative success rate: 0.3793103448275862
+EP 30 success: False; Cumulative success rate: 0.36666666666666664
+EP 31 success: True; Cumulative success rate: 0.3870967741935484
+EP 32 success: True; Cumulative success rate: 0.40625
+EP 33 success: False; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: False; Cumulative success rate: 0.3333333333333333
+EP 40 success: True; Cumulative success rate: 0.35
+EP 41 success: False; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: False; Cumulative success rate: 0.32558139534883723
+EP 44 success: True; Cumulative success rate: 0.3409090909090909
+EP 45 success: False; Cumulative success rate: 0.3333333333333333
+EP 46 success: True; Cumulative success rate: 0.34782608695652173
+EP 47 success: False; Cumulative success rate: 0.3404255319148936
+EP 48 success: True; Cumulative success rate: 0.3541666666666667
+EP 49 success: True; Cumulative success rate: 0.3673469387755102
+EP 50 success: True; Cumulative success rate: 0.38
+Collecting 50 episodes took 389.76 seconds
+Results for robocasa/TurnOnStove:
+Success rate: 0.38
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnStove/stats.json
+
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: False; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: True; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: True; Cumulative success rate: 0.9166666666666666
+EP 25 success: True; Cumulative success rate: 0.92
+EP 26 success: True; Cumulative success rate: 0.9230769230769231
+EP 27 success: True; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: True; Cumulative success rate: 0.9354838709677419
+EP 32 success: True; Cumulative success rate: 0.9375
+EP 33 success: True; Cumulative success rate: 0.9393939393939394
+EP 34 success: True; Cumulative success rate: 0.9411764705882353
+EP 35 success: True; Cumulative success rate: 0.9428571428571428
+EP 36 success: True; Cumulative success rate: 0.9444444444444444
+EP 37 success: True; Cumulative success rate: 0.9459459459459459
+EP 38 success: True; Cumulative success rate: 0.9473684210526315
+EP 39 success: True; Cumulative success rate: 0.9487179487179487
+EP 40 success: True; Cumulative success rate: 0.95
+EP 41 success: True; Cumulative success rate: 0.9512195121951219
+EP 42 success: True; Cumulative success rate: 0.9523809523809523
+EP 43 success: True; Cumulative success rate: 0.9534883720930233
+EP 44 success: True; Cumulative success rate: 0.9545454545454546
+EP 45 success: True; Cumulative success rate: 0.9555555555555556
+EP 46 success: False; Cumulative success rate: 0.9347826086956522
+EP 47 success: False; Cumulative success rate: 0.9148936170212766
+EP 48 success: True; Cumulative success rate: 0.9166666666666666
+EP 49 success: True; Cumulative success rate: 0.9183673469387755
+EP 50 success: True; Cumulative success rate: 0.92
+Collecting 50 episodes took 304.13 seconds
+Results for robocasa/TurnSinkSpout:
+Success rate: 0.92
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnSinkSpout/stats.json
+
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 6h 46m 51s (24411.14s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000
+- checkpoint_name: checkpoint-120000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4620 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 10 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 66 | None
+CoffeeSetupMug: 40 | None
+NavigateKitchen: 40 | None
+OpenCabinet: 54 | None
+OpenDrawer: 48 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 46 | None
+PickPlaceCounterToStove: 44 | None
+PickPlaceDrawerToCounter: 40 | None
+PickPlaceSinkToCounter: 64 | None
+PickPlaceToasterToCounter: 80 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 30 | None
+TurnOffMicrowave: 28 | None
+OpenElectricKettleLid: 62 | None
+SlideDishwasherRack: 74 | None
+TurnOnSinkFaucet: 52 | None
+TurnSinkSpout: 92 | None
+TurnOffSinkFaucet: 88 | None
+AdjustWaterTemperature: 42 | None
+TurnOffStove: 26 | None
+TurnOnStove: 38 | None
+AdjustToasterOvenTemperature: 28 | None
+AVG: 53.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000/summary.txt
diff --git a/Atomic26_baseline_v2/checkpoint-120000/eval_20260622_101037_gpu1.pid b/Atomic26_baseline_v2/checkpoint-120000/eval_20260622_101037_gpu1.pid
new file mode 100644
index 0000000000000000000000000000000000000000..79ef761cea1ab9ae7e7412d0787847765b38364f
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/eval_20260622_101037_gpu1.pid
@@ -0,0 +1 @@
+4054676
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustWaterTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/AdjustWaterTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseBlenderLid/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseBlenderLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a79c4378cd568b0382188f9ec37efae146800d8
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseBlenderLid/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.1
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseFridge/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseFridge/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefca40f97b8e5d8fbb07603e0a548dc6927332a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseFridge/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.8
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseToasterOvenDoor/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CloseToasterOvenDoor/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.66
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CoffeeSetupMug/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/CoffeeSetupMug/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/NavigateKitchen/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/NavigateKitchen/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/NavigateKitchen/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenCabinet/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenCabinet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenDrawer/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenDrawer/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenElectricKettleLid/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61e3575f3af3cd468506a20c23235d870112253
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenElectricKettleLid/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.62
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenStandMixerHead/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..052dc0bdd096d10e1998da20fb1d51d7b4d02be7
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/OpenStandMixerHead/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.9
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b53abff8b682d1bd470bd415c4c8f3d9d8585d0
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.5
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToStove/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceCounterToStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceSinkToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceSinkToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..51338726527e720a1456879fbf87f45b4ab71aca
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceSinkToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.64
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceToasterToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefca40f97b8e5d8fbb07603e0a548dc6927332a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/PickPlaceToasterToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.8
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/SlideDishwasherRack/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/SlideDishwasherRack/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffStove/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..580fff78905954a1f6a4a881893574bcfb5bda00
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOffStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.26
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnElectricKettle/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d156665a0626304d3b122b77372ed54b5c80f9
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnElectricKettle/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.72
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.52
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnStove/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnOnStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnSinkSpout/stats.json b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnSinkSpout/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee630120b2b3f30ed534ec6e63abfd8bb236223
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/evals/pretrain/TurnSinkSpout/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.92
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-120000/summary.txt b/Atomic26_baseline_v2/checkpoint-120000/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d863978e7f43ea8d5640a5c1725721d3fbb059f
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-120000/summary.txt
@@ -0,0 +1,50 @@
+Eval metadata
+- total_eval_time: 6h 46m 51s (24411.14s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000
+- checkpoint_name: checkpoint-120000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-120000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-120000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4620 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 10 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 66 | None
+CoffeeSetupMug: 40 | None
+NavigateKitchen: 40 | None
+OpenCabinet: 54 | None
+OpenDrawer: 48 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 46 | None
+PickPlaceCounterToStove: 44 | None
+PickPlaceDrawerToCounter: 40 | None
+PickPlaceSinkToCounter: 64 | None
+PickPlaceToasterToCounter: 80 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 30 | None
+TurnOffMicrowave: 28 | None
+OpenElectricKettleLid: 62 | None
+SlideDishwasherRack: 74 | None
+TurnOnSinkFaucet: 52 | None
+TurnSinkSpout: 92 | None
+TurnOffSinkFaucet: 88 | None
+AdjustWaterTemperature: 42 | None
+TurnOffStove: 26 | None
+TurnOnStove: 38 | None
+AdjustToasterOvenTemperature: 28 | None
+AVG: 53.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_215817.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_215817.log
new file mode 100644
index 0000000000000000000000000000000000000000..e35509223788e2b5b96644314ff212625f2d30a3
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_215817.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  5.02it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  5.12it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  5.10it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 27s (326.65s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7717f3f625c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_220420.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_220420.log
new file mode 100644
index 0000000000000000000000000000000000000000..0363b7c0fe253029638137db185e393da6f11ea7
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_220420.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.60it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.98it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.91it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 4m 55s (294.94s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e73a75e5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_221022.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_221022.log
new file mode 100644
index 0000000000000000000000000000000000000000..8708f555cf039831b99fb2231481d8ed04d64034
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_221022.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.58it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.63it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.62it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 27s (326.77s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ebb325725c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_222140.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_222140.log
new file mode 100644
index 0000000000000000000000000000000000000000..a826333e5f9b163c68c4ec86846e01775bdd0bef
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_222140.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.27it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.50it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.46it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 576.00 KiB is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 576.00 KiB is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 576.00 KiB is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 6m 31s (390.96s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x77457cf66520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_222849.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_222849.log
new file mode 100644
index 0000000000000000000000000000000000000000..ebf63b5d56187ef32bef2a85248211c0e6e963e3
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_222849.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.18it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.39it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.35it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 14.00 MiB is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 14.00 MiB is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 14.00 MiB is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 43s (343.10s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x79995d15a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_223456.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_223456.log
new file mode 100644
index 0000000000000000000000000000000000000000..614b2faccb43230dafbf8d31bee3615545f4fed5
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_223456.log
@@ -0,0 +1,558 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.97it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.07it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.06it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Exception ignored in: <function MjRenderContext.__del__ at 0x730a2d9c65c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-5 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 704, in _async_worker
+    observation, info = env.reset(**data)
+                        ^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 293, in reset
+    return env_reset_passive_checker(self.env, seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py", line 185, in env_reset_passive_checker
+    result = env.reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 346, in reset
+    raw_obs = self.env.reset()
+              ^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Raising the last exception back to the main process.
+  self._raise_if_errors(successes)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 45s (344.59s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fc57f962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_224103.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_224103.log
new file mode 100644
index 0000000000000000000000000000000000000000..7d9f104f7b594badecd297c9ee7fa856015534e7
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_224103.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  4.39it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.69it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.63it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 5s (304.66s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a5b70d5a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_224639.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_224639.log
new file mode 100644
index 0000000000000000000000000000000000000000..62b66971bf3c3469345fa57a7e0912c55db7e2bf
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_224639.log
@@ -0,0 +1,1025 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.03it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.24it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.20it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-6:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a78ef1be5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-9:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7d9efabc25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-2:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x789f769c25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-5:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7718bb3c65c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-1:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x796c013c25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-8:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ad5d23b25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-0:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f1dcafc65c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+libEGL warning: failed to open /dev/dri/renderD131: Permission denied
+
+libEGL warning: egl: failed to create dri2 screen
+Process Worker<AsyncVectorEnv>-7:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__
+    self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id)
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__
+    raise ImportError(
+ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fe825dc25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! [Errno 32] Broken pipe
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 48s (348.09s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7bf26b562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_225247.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_225247.log
new file mode 100644
index 0000000000000000000000000000000000000000..6b5a397dadafd321be07bc9ebbe350715438cce8
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_225247.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.17it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.44it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.39it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 32s (332.42s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x728be3762520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_225854.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_225854.log
new file mode 100644
index 0000000000000000000000000000000000000000..4f49c328b95de6e4a0580e41454a4d478b01bdc7
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_225854.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.40it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.65it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.61it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 52s (351.56s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x746561f62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_230501.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_230501.log
new file mode 100644
index 0000000000000000000000000000000000000000..9b187fd1eebb8e99ab2ff5764f816550da46ce93
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_230501.log
@@ -0,0 +1,560 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.36it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.14it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.17it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Exception ignored in: <function MjRenderContext.__del__ at 0x74c5b65be5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-6 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 704, in _async_worker
+    observation, info = env.reset(**data)
+                        ^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 293, in reset
+    return env_reset_passive_checker(self.env, seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py", line 185, in env_reset_passive_checker
+    result = env.reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 346, in reset
+    raw_obs = self.env.reset()
+              ^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Raising the last exception back to the main process.
+  self._raise_if_errors(successes)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 4m 50s (290.40s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cf76b366520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_231007.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_231007.log
new file mode 100644
index 0000000000000000000000000000000000000000..50e02c0ff1301b256148727b0236c9f1fe69edac
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_231007.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  4.73it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  5.13it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  5.06it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 26s (325.92s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7cbca376e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_231614.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_231614.log
new file mode 100644
index 0000000000000000000000000000000000000000..b02e8732d1c3fde7127a8d40cd777218bdad118f
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_231614.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.10it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.09it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.09it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 50s (349.91s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b43d0d62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_232221.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_232221.log
new file mode 100644
index 0000000000000000000000000000000000000000..25a115bc2448d67004ce5bac5fc8eb97a0a4d061
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_232221.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.60it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.11it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.01it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 9s (309.06s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x74fc11562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_232758.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_232758.log
new file mode 100644
index 0000000000000000000000000000000000000000..bc2b06b180976351388f125b11b3f76220ae77e4
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_232758.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  3.53it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.07it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.13it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 20s (319.79s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x741d5e962520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_233335.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_233335.log
new file mode 100644
index 0000000000000000000000000000000000000000..6bf23adc3207a9a9fbfd8dc2c27a8b9757311bfd
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_233335.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:01<00:01,  1.35s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:02<00:00,  1.15s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:02<00:00,  1.18s/it]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 44s (343.88s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x732f14d6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_233942.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_233942.log
new file mode 100644
index 0000000000000000000000000000000000000000..d3e19a4a43669a3627550fc8589fe0469543c87b
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_233942.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  4.12it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  1.95it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.12it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 24s (324.38s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77ef0ed6a520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_234549.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_234549.log
new file mode 100644
index 0000000000000000000000000000000000000000..d6d697e91951cea5b5cb8d2fdbfe0c4f7651543d
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_234549.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  3.91it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.01it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.99it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 10s (310.13s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7eb997162520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_235126.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_235126.log
new file mode 100644
index 0000000000000000000000000000000000000000..4997d9e2fec8fc71c2b648aa5df32b57cf042064
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_235126.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.94it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.91it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.91it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 41s (340.54s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x76d630f6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_235733.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_235733.log
new file mode 100644
index 0000000000000000000000000000000000000000..1367e972c6897194ef9500dcb2fd39b5e3956976
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260621_235733.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  4.17it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.28it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.26it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 20s (320.06s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7339d496e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_000309.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_000309.log
new file mode 100644
index 0000000000000000000000000000000000000000..d1169f306d7c06ce30bbbb95a7a817c3ca5020b1
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_000309.log
@@ -0,0 +1,1686 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:01<00:01,  1.19s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:02<00:00,  1.01s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:02<00:00,  1.04s/it]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Exception ignored in: <function MjRenderContext.__del__ at 0x78a2961c25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-0 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 704, in _async_worker
+    observation, info = env.reset(**data)
+                        ^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 293, in reset
+    return env_reset_passive_checker(self.env, seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py", line 185, in env_reset_passive_checker
+    result = env.reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 346, in reset
+    raw_obs = self.env.reset()
+              ^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Raising the last exception back to the main process.
+  self._raise_if_errors(successes)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Process Worker<AsyncVectorEnv>-1:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Process Worker<AsyncVectorEnv>-0:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b0b91dba5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x787a481c25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-5:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception! [Errno 32] Broken pipe
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Process Worker<AsyncVectorEnv>-3:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Process Worker<AsyncVectorEnv>-2:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x78e174fc65c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b50003be5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-6:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x71f9405be5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-1:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x782c355c65c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-5:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Process Worker<AsyncVectorEnv>-0:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x7d022dfc25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x729b8d9c25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-8:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception! [Errno 32] Broken pipe
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Process Worker<AsyncVectorEnv>-6:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b909cdbe5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-4:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Process Worker<AsyncVectorEnv>-1:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Process Worker<AsyncVectorEnv>-9:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x7a35dadba5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7d48243c65c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x756cc6bba5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-5:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Process Worker<AsyncVectorEnv>-0:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x7756cdbbe5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-8:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x79f19ebc25c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Process Worker<AsyncVectorEnv>-7:
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap
+    self.run()
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker
+    env = env_fn()
+          ^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__
+    return self.fn()
+           ^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_single_env
+    env = gym.make(config.env_name, split=config.split, enable_render=True)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 408, in <lambda>
+    "__init__": lambda self, **kwargs: super(self.__class__, self).__init__(
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, in __init__
+    self.env.reset()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+Exception ignored in: <function MjRenderContext.__del__ at 0x7beba09be5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7c3df65ca5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! [Errno 32] Broken pipe
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 6m 57s (416.52s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e5dfad62520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_001048.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_001048.log
new file mode 100644
index 0000000000000000000000000000000000000000..05fbd571c04e23bf32ae444f9a2e18cc3600ac04
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_001048.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.58it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.92it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.86it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 6m 4s (363.90s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x77849cd72520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_001726.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_001726.log
new file mode 100644
index 0000000000000000000000000000000000000000..bcf8bfb82be04dc6e1facbf8069e51cafa713b12
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_001726.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.20it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.53it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.48it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 6s (306.01s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ae4fbb6e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_002302.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_002302.log
new file mode 100644
index 0000000000000000000000000000000000000000..733edce0fdbac3f117474400b32e358c21da9888
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_002302.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  3.37it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.23it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.35it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 49s (349.43s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x73fc5f75e520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_002909.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_002909.log
new file mode 100644
index 0000000000000000000000000000000000000000..e39c80ad2b399cd497e679d915285fc193dd4a5f
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_002909.log
@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.64it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.75it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.73it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 46s (345.54s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x731560166520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_003517.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_003517.log
new file mode 100644
index 0000000000000000000000000000000000000000..39f5cf7bfac39b81930416fed0da002f33570e7e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_003517.log
@@ -0,0 +1,20 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_101037_gpu0.log b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_101037_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..e15694a259a56bff41e94903581fd6cf15e981eb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_101037_gpu0.log
@@ -0,0 +1,3150 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.39it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.82it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.74it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4560
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: True; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: True; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: True; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: False; Cumulative success rate: 0.23809523809523808
+EP 22 success: False; Cumulative success rate: 0.22727272727272727
+EP 23 success: False; Cumulative success rate: 0.21739130434782608
+EP 24 success: False; Cumulative success rate: 0.20833333333333334
+EP 25 success: False; Cumulative success rate: 0.2
+EP 26 success: False; Cumulative success rate: 0.19230769230769232
+EP 27 success: False; Cumulative success rate: 0.18518518518518517
+EP 28 success: True; Cumulative success rate: 0.21428571428571427
+EP 29 success: False; Cumulative success rate: 0.20689655172413793
+EP 30 success: True; Cumulative success rate: 0.23333333333333334
+EP 31 success: False; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: False; Cumulative success rate: 0.20588235294117646
+EP 35 success: True; Cumulative success rate: 0.22857142857142856
+EP 36 success: True; Cumulative success rate: 0.25
+EP 37 success: True; Cumulative success rate: 0.2702702702702703
+EP 38 success: False; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: False; Cumulative success rate: 0.25
+EP 41 success: False; Cumulative success rate: 0.24390243902439024
+EP 42 success: False; Cumulative success rate: 0.23809523809523808
+EP 43 success: False; Cumulative success rate: 0.23255813953488372
+EP 44 success: False; Cumulative success rate: 0.22727272727272727
+EP 45 success: False; Cumulative success rate: 0.2222222222222222
+EP 46 success: True; Cumulative success rate: 0.2391304347826087
+EP 47 success: False; Cumulative success rate: 0.23404255319148937
+EP 48 success: False; Cumulative success rate: 0.22916666666666666
+EP 49 success: True; Cumulative success rate: 0.24489795918367346
+EP 50 success: False; Cumulative success rate: 0.24
+Collecting 50 episodes took 808.21 seconds
+Results for robocasa/AdjustToasterOvenTemperature:
+Success rate: 0.24
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: True; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: True; Cumulative success rate: 0.5789473684210527
+EP 20 success: False; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: False; Cumulative success rate: 0.4782608695652174
+EP 24 success: True; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: False; Cumulative success rate: 0.43333333333333335
+EP 31 success: False; Cumulative success rate: 0.41935483870967744
+EP 32 success: False; Cumulative success rate: 0.40625
+EP 33 success: True; Cumulative success rate: 0.42424242424242425
+EP 34 success: False; Cumulative success rate: 0.4117647058823529
+EP 35 success: True; Cumulative success rate: 0.42857142857142855
+EP 36 success: True; Cumulative success rate: 0.4444444444444444
+EP 37 success: False; Cumulative success rate: 0.43243243243243246
+EP 38 success: False; Cumulative success rate: 0.42105263157894735
+EP 39 success: False; Cumulative success rate: 0.41025641025641024
+EP 40 success: True; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: False; Cumulative success rate: 0.4
+EP 46 success: False; Cumulative success rate: 0.391304347826087
+EP 47 success: False; Cumulative success rate: 0.3829787234042553
+EP 48 success: False; Cumulative success rate: 0.375
+EP 49 success: False; Cumulative success rate: 0.3673469387755102
+EP 50 success: False; Cumulative success rate: 0.36
+Collecting 50 episodes took 935.16 seconds
+Results for robocasa/AdjustWaterTemperature:
+Success rate: 0.36
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustWaterTemperature/stats.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: False; Cumulative success rate: 0.08333333333333333
+EP 13 success: False; Cumulative success rate: 0.07692307692307693
+EP 14 success: False; Cumulative success rate: 0.07142857142857142
+EP 15 success: False; Cumulative success rate: 0.06666666666666667
+EP 16 success: False; Cumulative success rate: 0.0625
+EP 17 success: False; Cumulative success rate: 0.058823529411764705
+EP 18 success: False; Cumulative success rate: 0.05555555555555555
+EP 19 success: False; Cumulative success rate: 0.05263157894736842
+EP 20 success: False; Cumulative success rate: 0.05
+EP 21 success: False; Cumulative success rate: 0.047619047619047616
+EP 22 success: False; Cumulative success rate: 0.045454545454545456
+EP 23 success: False; Cumulative success rate: 0.043478260869565216
+EP 24 success: False; Cumulative success rate: 0.041666666666666664
+EP 25 success: False; Cumulative success rate: 0.04
+EP 26 success: False; Cumulative success rate: 0.038461538461538464
+EP 27 success: False; Cumulative success rate: 0.037037037037037035
+EP 28 success: False; Cumulative success rate: 0.03571428571428571
+EP 29 success: False; Cumulative success rate: 0.034482758620689655
+EP 30 success: False; Cumulative success rate: 0.03333333333333333
+EP 31 success: False; Cumulative success rate: 0.03225806451612903
+EP 32 success: False; Cumulative success rate: 0.03125
+EP 33 success: False; Cumulative success rate: 0.030303030303030304
+EP 34 success: False; Cumulative success rate: 0.029411764705882353
+EP 35 success: True; Cumulative success rate: 0.05714285714285714
+EP 36 success: False; Cumulative success rate: 0.05555555555555555
+EP 37 success: False; Cumulative success rate: 0.05405405405405406
+EP 38 success: True; Cumulative success rate: 0.07894736842105263
+EP 39 success: False; Cumulative success rate: 0.07692307692307693
+EP 40 success: False; Cumulative success rate: 0.075
+EP 41 success: False; Cumulative success rate: 0.07317073170731707
+EP 42 success: False; Cumulative success rate: 0.07142857142857142
+EP 43 success: False; Cumulative success rate: 0.06976744186046512
+EP 44 success: False; Cumulative success rate: 0.06818181818181818
+EP 45 success: False; Cumulative success rate: 0.06666666666666667
+EP 46 success: False; Cumulative success rate: 0.06521739130434782
+EP 47 success: False; Cumulative success rate: 0.06382978723404255
+EP 48 success: False; Cumulative success rate: 0.0625
+EP 49 success: False; Cumulative success rate: 0.061224489795918366
+EP 50 success: False; Cumulative success rate: 0.06
+Collecting 50 episodes took 1478.09 seconds
+Results for robocasa/CloseBlenderLid:
+Success rate: 0.06
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseBlenderLid/stats.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: False; Cumulative success rate: 0.8421052631578947
+EP 20 success: True; Cumulative success rate: 0.85
+EP 21 success: True; Cumulative success rate: 0.8571428571428571
+EP 22 success: True; Cumulative success rate: 0.8636363636363636
+EP 23 success: True; Cumulative success rate: 0.8695652173913043
+EP 24 success: True; Cumulative success rate: 0.875
+EP 25 success: True; Cumulative success rate: 0.88
+EP 26 success: True; Cumulative success rate: 0.8846153846153846
+EP 27 success: True; Cumulative success rate: 0.8888888888888888
+EP 28 success: True; Cumulative success rate: 0.8928571428571429
+EP 29 success: True; Cumulative success rate: 0.896551724137931
+EP 30 success: True; Cumulative success rate: 0.9
+EP 31 success: True; Cumulative success rate: 0.9032258064516129
+EP 32 success: True; Cumulative success rate: 0.90625
+EP 33 success: True; Cumulative success rate: 0.9090909090909091
+EP 34 success: True; Cumulative success rate: 0.9117647058823529
+EP 35 success: True; Cumulative success rate: 0.9142857142857143
+EP 36 success: True; Cumulative success rate: 0.9166666666666666
+EP 37 success: True; Cumulative success rate: 0.918918918918919
+EP 38 success: True; Cumulative success rate: 0.9210526315789473
+EP 39 success: True; Cumulative success rate: 0.9230769230769231
+EP 40 success: True; Cumulative success rate: 0.925
+EP 41 success: False; Cumulative success rate: 0.9024390243902439
+EP 42 success: True; Cumulative success rate: 0.9047619047619048
+EP 43 success: True; Cumulative success rate: 0.9069767441860465
+EP 44 success: True; Cumulative success rate: 0.9090909090909091
+EP 45 success: False; Cumulative success rate: 0.8888888888888888
+EP 46 success: False; Cumulative success rate: 0.8695652173913043
+EP 47 success: True; Cumulative success rate: 0.8723404255319149
+EP 48 success: True; Cumulative success rate: 0.875
+EP 49 success: True; Cumulative success rate: 0.8775510204081632
+EP 50 success: True; Cumulative success rate: 0.88
+Collecting 50 episodes took 1601.94 seconds
+Results for robocasa/CloseFridge:
+Success rate: 0.88
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseFridge/stats.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: True; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: True; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: False; Cumulative success rate: 0.6
+EP 16 success: True; Cumulative success rate: 0.625
+EP 17 success: True; Cumulative success rate: 0.6470588235294118
+EP 18 success: False; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: False; Cumulative success rate: 0.6666666666666666
+EP 25 success: True; Cumulative success rate: 0.68
+EP 26 success: True; Cumulative success rate: 0.6923076923076923
+EP 27 success: True; Cumulative success rate: 0.7037037037037037
+EP 28 success: True; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: False; Cumulative success rate: 0.71875
+EP 33 success: True; Cumulative success rate: 0.7272727272727273
+EP 34 success: True; Cumulative success rate: 0.7352941176470589
+EP 35 success: True; Cumulative success rate: 0.7428571428571429
+EP 36 success: False; Cumulative success rate: 0.7222222222222222
+EP 37 success: True; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: True; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: True; Cumulative success rate: 0.7619047619047619
+EP 43 success: True; Cumulative success rate: 0.7674418604651163
+EP 44 success: False; Cumulative success rate: 0.75
+EP 45 success: True; Cumulative success rate: 0.7555555555555555
+EP 46 success: False; Cumulative success rate: 0.7391304347826086
+EP 47 success: True; Cumulative success rate: 0.7446808510638298
+EP 48 success: True; Cumulative success rate: 0.75
+EP 49 success: True; Cumulative success rate: 0.7551020408163265
+EP 50 success: False; Cumulative success rate: 0.74
+Collecting 50 episodes took 816.12 seconds
+Results for robocasa/CloseToasterOvenDoor:
+Success rate: 0.74
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseToasterOvenDoor/stats.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: True; Cumulative success rate: 0.3076923076923077
+EP 14 success: True; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: False; Cumulative success rate: 0.29411764705882354
+EP 18 success: True; Cumulative success rate: 0.3333333333333333
+EP 19 success: False; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: True; Cumulative success rate: 0.3333333333333333
+EP 22 success: False; Cumulative success rate: 0.3181818181818182
+EP 23 success: False; Cumulative success rate: 0.30434782608695654
+EP 24 success: True; Cumulative success rate: 0.3333333333333333
+EP 25 success: True; Cumulative success rate: 0.36
+EP 26 success: True; Cumulative success rate: 0.38461538461538464
+EP 27 success: False; Cumulative success rate: 0.37037037037037035
+EP 28 success: False; Cumulative success rate: 0.35714285714285715
+EP 29 success: False; Cumulative success rate: 0.3448275862068966
+EP 30 success: False; Cumulative success rate: 0.3333333333333333
+EP 31 success: True; Cumulative success rate: 0.3548387096774194
+EP 32 success: False; Cumulative success rate: 0.34375
+EP 33 success: True; Cumulative success rate: 0.36363636363636365
+EP 34 success: False; Cumulative success rate: 0.35294117647058826
+EP 35 success: False; Cumulative success rate: 0.34285714285714286
+EP 36 success: False; Cumulative success rate: 0.3333333333333333
+EP 37 success: False; Cumulative success rate: 0.32432432432432434
+EP 38 success: False; Cumulative success rate: 0.3157894736842105
+EP 39 success: False; Cumulative success rate: 0.3076923076923077
+EP 40 success: False; Cumulative success rate: 0.3
+EP 41 success: False; Cumulative success rate: 0.2926829268292683
+EP 42 success: False; Cumulative success rate: 0.2857142857142857
+EP 43 success: True; Cumulative success rate: 0.3023255813953488
+EP 44 success: False; Cumulative success rate: 0.29545454545454547
+EP 45 success: True; Cumulative success rate: 0.3111111111111111
+EP 46 success: False; Cumulative success rate: 0.30434782608695654
+EP 47 success: False; Cumulative success rate: 0.2978723404255319
+EP 48 success: True; Cumulative success rate: 0.3125
+EP 49 success: True; Cumulative success rate: 0.32653061224489793
+EP 50 success: False; Cumulative success rate: 0.32
+Collecting 50 episodes took 1022.99 seconds
+Results for robocasa/CoffeeSetupMug:
+Success rate: 0.32
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CoffeeSetupMug/stats.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: False; Cumulative success rate: 0.0
+EP 9 success: False; Cumulative success rate: 0.0
+EP 10 success: False; Cumulative success rate: 0.0
+EP 11 success: False; Cumulative success rate: 0.0
+EP 12 success: False; Cumulative success rate: 0.0
+EP 13 success: False; Cumulative success rate: 0.0
+EP 14 success: True; Cumulative success rate: 0.07142857142857142
+EP 15 success: False; Cumulative success rate: 0.06666666666666667
+EP 16 success: False; Cumulative success rate: 0.0625
+EP 17 success: False; Cumulative success rate: 0.058823529411764705
+EP 18 success: False; Cumulative success rate: 0.05555555555555555
+EP 19 success: False; Cumulative success rate: 0.05263157894736842
+EP 20 success: False; Cumulative success rate: 0.05
+EP 21 success: False; Cumulative success rate: 0.047619047619047616
+EP 22 success: True; Cumulative success rate: 0.09090909090909091
+EP 23 success: False; Cumulative success rate: 0.08695652173913043
+EP 24 success: False; Cumulative success rate: 0.08333333333333333
+EP 25 success: True; Cumulative success rate: 0.12
+EP 26 success: False; Cumulative success rate: 0.11538461538461539
+EP 27 success: False; Cumulative success rate: 0.1111111111111111
+EP 28 success: True; Cumulative success rate: 0.14285714285714285
+EP 29 success: True; Cumulative success rate: 0.1724137931034483
+EP 30 success: False; Cumulative success rate: 0.16666666666666666
+EP 31 success: True; Cumulative success rate: 0.1935483870967742
+EP 32 success: False; Cumulative success rate: 0.1875
+EP 33 success: False; Cumulative success rate: 0.18181818181818182
+EP 34 success: False; Cumulative success rate: 0.17647058823529413
+EP 35 success: False; Cumulative success rate: 0.17142857142857143
+EP 36 success: True; Cumulative success rate: 0.19444444444444445
+EP 37 success: True; Cumulative success rate: 0.21621621621621623
+EP 38 success: False; Cumulative success rate: 0.21052631578947367
+EP 39 success: False; Cumulative success rate: 0.20512820512820512
+EP 40 success: True; Cumulative success rate: 0.225
+EP 41 success: True; Cumulative success rate: 0.24390243902439024
+EP 42 success: False; Cumulative success rate: 0.23809523809523808
+EP 43 success: False; Cumulative success rate: 0.23255813953488372
+EP 44 success: False; Cumulative success rate: 0.22727272727272727
+EP 45 success: False; Cumulative success rate: 0.2222222222222222
+EP 46 success: False; Cumulative success rate: 0.21739130434782608
+EP 47 success: False; Cumulative success rate: 0.2127659574468085
+EP 48 success: False; Cumulative success rate: 0.20833333333333334
+EP 49 success: False; Cumulative success rate: 0.20408163265306123
+EP 50 success: False; Cumulative success rate: 0.2
+Collecting 50 episodes took 718.29 seconds
+Results for robocasa/NavigateKitchen:
+Success rate: 0.20
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/NavigateKitchen/stats.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: False; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: False; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: True; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: True; Cumulative success rate: 0.5789473684210527
+EP 20 success: True; Cumulative success rate: 0.6
+EP 21 success: False; Cumulative success rate: 0.5714285714285714
+EP 22 success: False; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: True; Cumulative success rate: 0.5416666666666666
+EP 25 success: False; Cumulative success rate: 0.52
+EP 26 success: False; Cumulative success rate: 0.5
+EP 27 success: False; Cumulative success rate: 0.48148148148148145
+EP 28 success: True; Cumulative success rate: 0.5
+EP 29 success: False; Cumulative success rate: 0.4827586206896552
+EP 30 success: False; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: True; Cumulative success rate: 0.47058823529411764
+EP 35 success: False; Cumulative success rate: 0.45714285714285713
+EP 36 success: True; Cumulative success rate: 0.4722222222222222
+EP 37 success: False; Cumulative success rate: 0.4594594594594595
+EP 38 success: True; Cumulative success rate: 0.47368421052631576
+EP 39 success: True; Cumulative success rate: 0.48717948717948717
+EP 40 success: False; Cumulative success rate: 0.475
+EP 41 success: False; Cumulative success rate: 0.4634146341463415
+EP 42 success: False; Cumulative success rate: 0.4523809523809524
+EP 43 success: True; Cumulative success rate: 0.46511627906976744
+EP 44 success: False; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: False; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: False; Cumulative success rate: 0.42857142857142855
+EP 50 success: True; Cumulative success rate: 0.44
+Collecting 50 episodes took 1742.25 seconds
+Results for robocasa/OpenCabinet:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenCabinet/stats.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: False; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: True; Cumulative success rate: 0.5
+EP 19 success: True; Cumulative success rate: 0.5263157894736842
+EP 20 success: True; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: True; Cumulative success rate: 0.5
+EP 27 success: False; Cumulative success rate: 0.48148148148148145
+EP 28 success: True; Cumulative success rate: 0.5
+EP 29 success: True; Cumulative success rate: 0.5172413793103449
+EP 30 success: True; Cumulative success rate: 0.5333333333333333
+EP 31 success: False; Cumulative success rate: 0.5161290322580645
+EP 32 success: True; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: True; Cumulative success rate: 0.5142857142857142
+EP 36 success: False; Cumulative success rate: 0.5
+EP 37 success: True; Cumulative success rate: 0.5135135135135135
+EP 38 success: True; Cumulative success rate: 0.5263157894736842
+EP 39 success: False; Cumulative success rate: 0.5128205128205128
+EP 40 success: False; Cumulative success rate: 0.5
+EP 41 success: True; Cumulative success rate: 0.5121951219512195
+EP 42 success: True; Cumulative success rate: 0.5238095238095238
+EP 43 success: False; Cumulative success rate: 0.5116279069767442
+EP 44 success: False; Cumulative success rate: 0.5
+EP 45 success: False; Cumulative success rate: 0.4888888888888889
+EP 46 success: False; Cumulative success rate: 0.4782608695652174
+EP 47 success: False; Cumulative success rate: 0.46808510638297873
+EP 48 success: True; Cumulative success rate: 0.4791666666666667
+EP 49 success: False; Cumulative success rate: 0.46938775510204084
+EP 50 success: True; Cumulative success rate: 0.48
+Collecting 50 episodes took 1306.87 seconds
+Results for robocasa/OpenDrawer:
+Success rate: 0.48
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenDrawer/stats.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: False; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: False; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: False; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: False; Cumulative success rate: 0.6190476190476191
+EP 22 success: True; Cumulative success rate: 0.6363636363636364
+EP 23 success: False; Cumulative success rate: 0.6086956521739131
+EP 24 success: True; Cumulative success rate: 0.625
+EP 25 success: False; Cumulative success rate: 0.6
+EP 26 success: True; Cumulative success rate: 0.6153846153846154
+EP 27 success: True; Cumulative success rate: 0.6296296296296297
+EP 28 success: False; Cumulative success rate: 0.6071428571428571
+EP 29 success: True; Cumulative success rate: 0.6206896551724138
+EP 30 success: False; Cumulative success rate: 0.6
+EP 31 success: False; Cumulative success rate: 0.5806451612903226
+EP 32 success: True; Cumulative success rate: 0.59375
+EP 33 success: True; Cumulative success rate: 0.6060606060606061
+EP 34 success: True; Cumulative success rate: 0.6176470588235294
+EP 35 success: True; Cumulative success rate: 0.6285714285714286
+EP 36 success: True; Cumulative success rate: 0.6388888888888888
+EP 37 success: False; Cumulative success rate: 0.6216216216216216
+EP 38 success: True; Cumulative success rate: 0.631578947368421
+EP 39 success: True; Cumulative success rate: 0.6410256410256411
+EP 40 success: False; Cumulative success rate: 0.625
+EP 41 success: False; Cumulative success rate: 0.6097560975609756
+EP 42 success: False; Cumulative success rate: 0.5952380952380952
+EP 43 success: False; Cumulative success rate: 0.5813953488372093
+EP 44 success: True; Cumulative success rate: 0.5909090909090909
+EP 45 success: False; Cumulative success rate: 0.5777777777777777
+EP 46 success: False; Cumulative success rate: 0.5652173913043478
+EP 47 success: True; Cumulative success rate: 0.574468085106383
+EP 48 success: False; Cumulative success rate: 0.5625
+EP 49 success: False; Cumulative success rate: 0.5510204081632653
+EP 50 success: True; Cumulative success rate: 0.56
+Collecting 50 episodes took 542.71 seconds
+Results for robocasa/OpenElectricKettleLid:
+Success rate: 0.56
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenElectricKettleLid/stats.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: True; Cumulative success rate: 0.95
+EP 21 success: True; Cumulative success rate: 0.9523809523809523
+EP 22 success: True; Cumulative success rate: 0.9545454545454546
+EP 23 success: True; Cumulative success rate: 0.9565217391304348
+EP 24 success: True; Cumulative success rate: 0.9583333333333334
+EP 25 success: True; Cumulative success rate: 0.96
+EP 26 success: True; Cumulative success rate: 0.9615384615384616
+EP 27 success: False; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: True; Cumulative success rate: 0.9354838709677419
+EP 32 success: True; Cumulative success rate: 0.9375
+EP 33 success: False; Cumulative success rate: 0.9090909090909091
+EP 34 success: True; Cumulative success rate: 0.9117647058823529
+EP 35 success: True; Cumulative success rate: 0.9142857142857143
+EP 36 success: True; Cumulative success rate: 0.9166666666666666
+EP 37 success: True; Cumulative success rate: 0.918918918918919
+EP 38 success: False; Cumulative success rate: 0.8947368421052632
+EP 39 success: True; Cumulative success rate: 0.8974358974358975
+EP 40 success: False; Cumulative success rate: 0.875
+EP 41 success: True; Cumulative success rate: 0.8780487804878049
+EP 42 success: True; Cumulative success rate: 0.8809523809523809
+EP 43 success: True; Cumulative success rate: 0.8837209302325582
+EP 44 success: True; Cumulative success rate: 0.8863636363636364
+EP 45 success: True; Cumulative success rate: 0.8888888888888888
+EP 46 success: True; Cumulative success rate: 0.8913043478260869
+EP 47 success: True; Cumulative success rate: 0.8936170212765957
+EP 48 success: True; Cumulative success rate: 0.8958333333333334
+EP 49 success: True; Cumulative success rate: 0.8979591836734694
+EP 50 success: True; Cumulative success rate: 0.9
+Collecting 50 episodes took 786.65 seconds
+Results for robocasa/OpenStandMixerHead:
+Success rate: 0.90
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenStandMixerHead/stats.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: False; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: True; Cumulative success rate: 0.375
+EP 17 success: True; Cumulative success rate: 0.4117647058823529
+EP 18 success: False; Cumulative success rate: 0.3888888888888889
+EP 19 success: False; Cumulative success rate: 0.3684210526315789
+EP 20 success: True; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: True; Cumulative success rate: 0.4230769230769231
+EP 27 success: True; Cumulative success rate: 0.4444444444444444
+EP 28 success: True; Cumulative success rate: 0.4642857142857143
+EP 29 success: True; Cumulative success rate: 0.4827586206896552
+EP 30 success: False; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: True; Cumulative success rate: 0.47058823529411764
+EP 35 success: False; Cumulative success rate: 0.45714285714285713
+EP 36 success: False; Cumulative success rate: 0.4444444444444444
+EP 37 success: True; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: False; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: True; Cumulative success rate: 0.4318181818181818
+EP 45 success: False; Cumulative success rate: 0.4222222222222222
+EP 46 success: False; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: True; Cumulative success rate: 0.40816326530612246
+EP 50 success: True; Cumulative success rate: 0.42
+Collecting 50 episodes took 1018.12 seconds
+Results for robocasa/PickPlaceCabinetToCounter:
+Success rate: 0.42
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: True; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: True; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: True; Cumulative success rate: 0.3076923076923077
+EP 14 success: False; Cumulative success rate: 0.2857142857142857
+EP 15 success: True; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: False; Cumulative success rate: 0.29411764705882354
+EP 18 success: True; Cumulative success rate: 0.3333333333333333
+EP 19 success: True; Cumulative success rate: 0.3684210526315789
+EP 20 success: False; Cumulative success rate: 0.35
+EP 21 success: False; Cumulative success rate: 0.3333333333333333
+EP 22 success: True; Cumulative success rate: 0.36363636363636365
+EP 23 success: False; Cumulative success rate: 0.34782608695652173
+EP 24 success: False; Cumulative success rate: 0.3333333333333333
+EP 25 success: False; Cumulative success rate: 0.32
+EP 26 success: False; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: True; Cumulative success rate: 0.32142857142857145
+EP 29 success: False; Cumulative success rate: 0.3103448275862069
+EP 30 success: True; Cumulative success rate: 0.3333333333333333
+EP 31 success: False; Cumulative success rate: 0.3225806451612903
+EP 32 success: False; Cumulative success rate: 0.3125
+EP 33 success: True; Cumulative success rate: 0.3333333333333333
+EP 34 success: True; Cumulative success rate: 0.35294117647058826
+EP 35 success: False; Cumulative success rate: 0.34285714285714286
+EP 36 success: True; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: False; Cumulative success rate: 0.3333333333333333
+EP 40 success: True; Cumulative success rate: 0.35
+EP 41 success: True; Cumulative success rate: 0.36585365853658536
+EP 42 success: True; Cumulative success rate: 0.38095238095238093
+EP 43 success: True; Cumulative success rate: 0.3953488372093023
+EP 44 success: True; Cumulative success rate: 0.4090909090909091
+EP 45 success: False; Cumulative success rate: 0.4
+EP 46 success: False; Cumulative success rate: 0.391304347826087
+EP 47 success: True; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: True; Cumulative success rate: 0.40816326530612246
+EP 50 success: False; Cumulative success rate: 0.4
+Collecting 50 episodes took 1305.64 seconds
+Results for robocasa/PickPlaceCounterToCabinet:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+Exception ignored in: <function MjRenderContext.__del__ at 0x781308fbe5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Received the following error from Worker-5 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 714, in _async_worker
+    observation, info = env.reset()
+                        ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 295, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 346, in reset
+    raw_obs = self.env.reset()
+              ^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Received the following error from Worker-0 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Raising the last exception back to the main process.
+  self._raise_if_errors(successes)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x766d943ca5c0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 4h 1m 5s (14465.27s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4560 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 6 | None
+CloseFridge: 88 | None
+CloseToasterOvenDoor: 74 | None
+CoffeeSetupMug: 32 | None
+NavigateKitchen: 20 | None
+OpenCabinet: 44 | None
+OpenDrawer: 48 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 40 | None
+PickPlaceCabinetToCounter: 42 | None
+OpenElectricKettleLid: 56 | None
+AdjustWaterTemperature: 36 | None
+AdjustToasterOvenTemperature: 24 | None
+AVG: 46.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 13/26
+- expected episodes per task: 50
+- missing tasks:
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x7e43b7766520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_101037_gpu0.pid b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_101037_gpu0.pid
new file mode 100644
index 0000000000000000000000000000000000000000..c66f25ee7a604a50d83f47f135e275108e9de1cc
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_20260622_101037_gpu0.pid
@@ -0,0 +1 @@
+4054269
diff --git a/Atomic26_baseline_v2/checkpoint-60000/eval_resume_20260622_170717_gpu0.log b/Atomic26_baseline_v2/checkpoint-60000/eval_resume_20260622_170717_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..9c7528c469c8562368afdb6912eed2af78318f0a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/eval_resume_20260622_170717_gpu0.log
@@ -0,0 +1,2794 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  6.24it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  6.45it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  6.41it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4530
+dict_keys(['video', 'state', 'action', 'language'])
+AdjustToasterOvenTemperature stats already exsits. skipping.
+AdjustWaterTemperature stats already exsits. skipping.
+CloseBlenderLid stats already exsits. skipping.
+CloseFridge stats already exsits. skipping.
+CloseToasterOvenDoor stats already exsits. skipping.
+CoffeeSetupMug stats already exsits. skipping.
+NavigateKitchen stats already exsits. skipping.
+OpenCabinet stats already exsits. skipping.
+OpenDrawer stats already exsits. skipping.
+OpenElectricKettleLid stats already exsits. skipping.
+OpenStandMixerHead stats already exsits. skipping.
+PickPlaceCabinetToCounter stats already exsits. skipping.
+PickPlaceCounterToCabinet stats already exsits. skipping.
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: True; Cumulative success rate: 0.5555555555555556
+EP 10 success: False; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: False; Cumulative success rate: 0.42857142857142855
+EP 15 success: True; Cumulative success rate: 0.4666666666666667
+EP 16 success: False; Cumulative success rate: 0.4375
+EP 17 success: False; Cumulative success rate: 0.4117647058823529
+EP 18 success: False; Cumulative success rate: 0.3888888888888889
+EP 19 success: False; Cumulative success rate: 0.3684210526315789
+EP 20 success: False; Cumulative success rate: 0.35
+EP 21 success: True; Cumulative success rate: 0.38095238095238093
+EP 22 success: False; Cumulative success rate: 0.36363636363636365
+EP 23 success: True; Cumulative success rate: 0.391304347826087
+EP 24 success: False; Cumulative success rate: 0.375
+EP 25 success: False; Cumulative success rate: 0.36
+EP 26 success: True; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: True; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: True; Cumulative success rate: 0.43333333333333335
+EP 31 success: True; Cumulative success rate: 0.45161290322580644
+EP 32 success: False; Cumulative success rate: 0.4375
+EP 33 success: False; Cumulative success rate: 0.42424242424242425
+EP 34 success: True; Cumulative success rate: 0.4411764705882353
+EP 35 success: True; Cumulative success rate: 0.45714285714285713
+EP 36 success: False; Cumulative success rate: 0.4444444444444444
+EP 37 success: False; Cumulative success rate: 0.43243243243243246
+EP 38 success: False; Cumulative success rate: 0.42105263157894735
+EP 39 success: False; Cumulative success rate: 0.41025641025641024
+EP 40 success: True; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: True; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: False; Cumulative success rate: 0.4318181818181818
+EP 45 success: False; Cumulative success rate: 0.4222222222222222
+EP 46 success: False; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: True; Cumulative success rate: 0.40816326530612246
+EP 50 success: False; Cumulative success rate: 0.4
+Collecting 50 episodes took 625.41 seconds
+Results for robocasa/PickPlaceCounterToStove:
+Success rate: 0.40
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToStove/stats.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: False; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: True; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: True; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: False; Cumulative success rate: 0.38095238095238093
+EP 22 success: True; Cumulative success rate: 0.4090909090909091
+EP 23 success: False; Cumulative success rate: 0.391304347826087
+EP 24 success: False; Cumulative success rate: 0.375
+EP 25 success: False; Cumulative success rate: 0.36
+EP 26 success: False; Cumulative success rate: 0.34615384615384615
+EP 27 success: False; Cumulative success rate: 0.3333333333333333
+EP 28 success: False; Cumulative success rate: 0.32142857142857145
+EP 29 success: True; Cumulative success rate: 0.3448275862068966
+EP 30 success: True; Cumulative success rate: 0.36666666666666664
+EP 31 success: False; Cumulative success rate: 0.3548387096774194
+EP 32 success: True; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: True; Cumulative success rate: 0.4
+EP 36 success: True; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: True; Cumulative success rate: 0.42105263157894735
+EP 39 success: True; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: True; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: False; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: False; Cumulative success rate: 0.42857142857142855
+EP 50 success: True; Cumulative success rate: 0.44
+Collecting 50 episodes took 628.05 seconds
+Results for robocasa/PickPlaceDrawerToCounter:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: False; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: True; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: True; Cumulative success rate: 0.9166666666666666
+EP 25 success: True; Cumulative success rate: 0.92
+EP 26 success: True; Cumulative success rate: 0.9230769230769231
+EP 27 success: True; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: False; Cumulative success rate: 0.896551724137931
+EP 30 success: True; Cumulative success rate: 0.9
+EP 31 success: True; Cumulative success rate: 0.9032258064516129
+EP 32 success: True; Cumulative success rate: 0.90625
+EP 33 success: True; Cumulative success rate: 0.9090909090909091
+EP 34 success: False; Cumulative success rate: 0.8823529411764706
+EP 35 success: True; Cumulative success rate: 0.8857142857142857
+EP 36 success: True; Cumulative success rate: 0.8888888888888888
+EP 37 success: True; Cumulative success rate: 0.8918918918918919
+EP 38 success: True; Cumulative success rate: 0.8947368421052632
+EP 39 success: True; Cumulative success rate: 0.8974358974358975
+EP 40 success: False; Cumulative success rate: 0.875
+EP 41 success: False; Cumulative success rate: 0.8536585365853658
+EP 42 success: False; Cumulative success rate: 0.8333333333333334
+EP 43 success: True; Cumulative success rate: 0.8372093023255814
+EP 44 success: True; Cumulative success rate: 0.8409090909090909
+EP 45 success: True; Cumulative success rate: 0.8444444444444444
+EP 46 success: True; Cumulative success rate: 0.8478260869565217
+EP 47 success: False; Cumulative success rate: 0.8297872340425532
+EP 48 success: False; Cumulative success rate: 0.8125
+EP 49 success: True; Cumulative success rate: 0.8163265306122449
+EP 50 success: True; Cumulative success rate: 0.82
+Collecting 50 episodes took 704.08 seconds
+Results for robocasa/PickPlaceSinkToCounter:
+Success rate: 0.82
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceSinkToCounter/stats.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: False; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: True; Cumulative success rate: 0.7368421052631579
+EP 20 success: True; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: False; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: True; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: True; Cumulative success rate: 0.7692307692307693
+EP 27 success: False; Cumulative success rate: 0.7407407407407407
+EP 28 success: False; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: False; Cumulative success rate: 0.7096774193548387
+EP 32 success: True; Cumulative success rate: 0.71875
+EP 33 success: True; Cumulative success rate: 0.7272727272727273
+EP 34 success: True; Cumulative success rate: 0.7352941176470589
+EP 35 success: False; Cumulative success rate: 0.7142857142857143
+EP 36 success: False; Cumulative success rate: 0.6944444444444444
+EP 37 success: False; Cumulative success rate: 0.6756756756756757
+EP 38 success: True; Cumulative success rate: 0.6842105263157895
+EP 39 success: True; Cumulative success rate: 0.6923076923076923
+EP 40 success: True; Cumulative success rate: 0.7
+EP 41 success: True; Cumulative success rate: 0.7073170731707317
+EP 42 success: False; Cumulative success rate: 0.6904761904761905
+EP 43 success: False; Cumulative success rate: 0.6744186046511628
+EP 44 success: True; Cumulative success rate: 0.6818181818181818
+EP 45 success: True; Cumulative success rate: 0.6888888888888889
+EP 46 success: True; Cumulative success rate: 0.6956521739130435
+EP 47 success: True; Cumulative success rate: 0.7021276595744681
+EP 48 success: False; Cumulative success rate: 0.6875
+EP 49 success: True; Cumulative success rate: 0.6938775510204082
+EP 50 success: True; Cumulative success rate: 0.7
+Collecting 50 episodes took 477.29 seconds
+Results for robocasa/PickPlaceToasterToCounter:
+Success rate: 0.70
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceToasterToCounter/stats.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: True; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: False; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: True; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: False; Cumulative success rate: 0.7083333333333334
+EP 25 success: True; Cumulative success rate: 0.72
+EP 26 success: False; Cumulative success rate: 0.6923076923076923
+EP 27 success: True; Cumulative success rate: 0.7037037037037037
+EP 28 success: True; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: False; Cumulative success rate: 0.7352941176470589
+EP 35 success: True; Cumulative success rate: 0.7428571428571429
+EP 36 success: False; Cumulative success rate: 0.7222222222222222
+EP 37 success: False; Cumulative success rate: 0.7027027027027027
+EP 38 success: True; Cumulative success rate: 0.7105263157894737
+EP 39 success: True; Cumulative success rate: 0.717948717948718
+EP 40 success: True; Cumulative success rate: 0.725
+EP 41 success: False; Cumulative success rate: 0.7073170731707317
+EP 42 success: True; Cumulative success rate: 0.7142857142857143
+EP 43 success: False; Cumulative success rate: 0.6976744186046512
+EP 44 success: True; Cumulative success rate: 0.7045454545454546
+EP 45 success: True; Cumulative success rate: 0.7111111111111111
+EP 46 success: True; Cumulative success rate: 0.717391304347826
+EP 47 success: True; Cumulative success rate: 0.723404255319149
+EP 48 success: True; Cumulative success rate: 0.7291666666666666
+EP 49 success: True; Cumulative success rate: 0.7346938775510204
+EP 50 success: True; Cumulative success rate: 0.74
+Collecting 50 episodes took 331.98 seconds
+Results for robocasa/SlideDishwasherRack:
+Success rate: 0.74
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/SlideDishwasherRack/stats.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: True; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: True; Cumulative success rate: 0.2857142857142857
+EP 15 success: False; Cumulative success rate: 0.26666666666666666
+EP 16 success: True; Cumulative success rate: 0.3125
+EP 17 success: False; Cumulative success rate: 0.29411764705882354
+EP 18 success: False; Cumulative success rate: 0.2777777777777778
+EP 19 success: True; Cumulative success rate: 0.3157894736842105
+EP 20 success: True; Cumulative success rate: 0.35
+EP 21 success: True; Cumulative success rate: 0.38095238095238093
+EP 22 success: False; Cumulative success rate: 0.36363636363636365
+EP 23 success: True; Cumulative success rate: 0.391304347826087
+EP 24 success: True; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: False; Cumulative success rate: 0.37037037037037035
+EP 28 success: False; Cumulative success rate: 0.35714285714285715
+EP 29 success: False; Cumulative success rate: 0.3448275862068966
+EP 30 success: False; Cumulative success rate: 0.3333333333333333
+EP 31 success: True; Cumulative success rate: 0.3548387096774194
+EP 32 success: False; Cumulative success rate: 0.34375
+EP 33 success: True; Cumulative success rate: 0.36363636363636365
+EP 34 success: False; Cumulative success rate: 0.35294117647058826
+EP 35 success: False; Cumulative success rate: 0.34285714285714286
+EP 36 success: True; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: False; Cumulative success rate: 0.3333333333333333
+EP 40 success: True; Cumulative success rate: 0.35
+EP 41 success: False; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: True; Cumulative success rate: 0.3488372093023256
+EP 44 success: True; Cumulative success rate: 0.36363636363636365
+EP 45 success: False; Cumulative success rate: 0.35555555555555557
+EP 46 success: False; Cumulative success rate: 0.34782608695652173
+EP 47 success: True; Cumulative success rate: 0.3617021276595745
+EP 48 success: False; Cumulative success rate: 0.3541666666666667
+EP 49 success: False; Cumulative success rate: 0.3469387755102041
+EP 50 success: False; Cumulative success rate: 0.34
+Collecting 50 episodes took 272.36 seconds
+Results for robocasa/TurnOffMicrowave:
+Success rate: 0.34
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffMicrowave/stats.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: False; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: False; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: False; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: True; Cumulative success rate: 0.8333333333333334
+EP 19 success: True; Cumulative success rate: 0.8421052631578947
+EP 20 success: False; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: False; Cumulative success rate: 0.782608695652174
+EP 24 success: True; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: True; Cumulative success rate: 0.8148148148148148
+EP 28 success: True; Cumulative success rate: 0.8214285714285714
+EP 29 success: True; Cumulative success rate: 0.8275862068965517
+EP 30 success: True; Cumulative success rate: 0.8333333333333334
+EP 31 success: False; Cumulative success rate: 0.8064516129032258
+EP 32 success: True; Cumulative success rate: 0.8125
+EP 33 success: True; Cumulative success rate: 0.8181818181818182
+EP 34 success: True; Cumulative success rate: 0.8235294117647058
+EP 35 success: True; Cumulative success rate: 0.8285714285714286
+EP 36 success: True; Cumulative success rate: 0.8333333333333334
+EP 37 success: True; Cumulative success rate: 0.8378378378378378
+EP 38 success: True; Cumulative success rate: 0.8421052631578947
+EP 39 success: True; Cumulative success rate: 0.8461538461538461
+EP 40 success: True; Cumulative success rate: 0.85
+EP 41 success: True; Cumulative success rate: 0.8536585365853658
+EP 42 success: True; Cumulative success rate: 0.8571428571428571
+EP 43 success: True; Cumulative success rate: 0.8604651162790697
+EP 44 success: False; Cumulative success rate: 0.8409090909090909
+EP 45 success: False; Cumulative success rate: 0.8222222222222222
+EP 46 success: True; Cumulative success rate: 0.8260869565217391
+EP 47 success: True; Cumulative success rate: 0.8297872340425532
+EP 48 success: True; Cumulative success rate: 0.8333333333333334
+EP 49 success: True; Cumulative success rate: 0.8367346938775511
+EP 50 success: True; Cumulative success rate: 0.84
+Collecting 50 episodes took 361.15 seconds
+Results for robocasa/TurnOffSinkFaucet:
+Success rate: 0.84
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffSinkFaucet/stats.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: True; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: True; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: True; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: True; Cumulative success rate: 0.25
+EP 21 success: True; Cumulative success rate: 0.2857142857142857
+EP 22 success: True; Cumulative success rate: 0.3181818181818182
+EP 23 success: False; Cumulative success rate: 0.30434782608695654
+EP 24 success: False; Cumulative success rate: 0.2916666666666667
+EP 25 success: False; Cumulative success rate: 0.28
+EP 26 success: False; Cumulative success rate: 0.2692307692307692
+EP 27 success: False; Cumulative success rate: 0.25925925925925924
+EP 28 success: False; Cumulative success rate: 0.25
+EP 29 success: True; Cumulative success rate: 0.27586206896551724
+EP 30 success: False; Cumulative success rate: 0.26666666666666666
+EP 31 success: False; Cumulative success rate: 0.25806451612903225
+EP 32 success: False; Cumulative success rate: 0.25
+EP 33 success: True; Cumulative success rate: 0.2727272727272727
+EP 34 success: True; Cumulative success rate: 0.29411764705882354
+EP 35 success: False; Cumulative success rate: 0.2857142857142857
+EP 36 success: False; Cumulative success rate: 0.2777777777777778
+EP 37 success: True; Cumulative success rate: 0.2972972972972973
+EP 38 success: False; Cumulative success rate: 0.2894736842105263
+EP 39 success: False; Cumulative success rate: 0.28205128205128205
+EP 40 success: False; Cumulative success rate: 0.275
+EP 41 success: True; Cumulative success rate: 0.2926829268292683
+EP 42 success: False; Cumulative success rate: 0.2857142857142857
+EP 43 success: False; Cumulative success rate: 0.27906976744186046
+EP 44 success: True; Cumulative success rate: 0.29545454545454547
+EP 45 success: False; Cumulative success rate: 0.28888888888888886
+EP 46 success: False; Cumulative success rate: 0.2826086956521739
+EP 47 success: False; Cumulative success rate: 0.2765957446808511
+EP 48 success: False; Cumulative success rate: 0.2708333333333333
+EP 49 success: False; Cumulative success rate: 0.2653061224489796
+EP 50 success: False; Cumulative success rate: 0.26
+Collecting 50 episodes took 485.90 seconds
+Results for robocasa/TurnOffStove:
+Success rate: 0.26
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffStove/stats.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: False; Cumulative success rate: 0.8235294117647058
+EP 18 success: False; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: False; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: True; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: True; Cumulative success rate: 0.8148148148148148
+EP 28 success: True; Cumulative success rate: 0.8214285714285714
+EP 29 success: True; Cumulative success rate: 0.8275862068965517
+EP 30 success: True; Cumulative success rate: 0.8333333333333334
+EP 31 success: True; Cumulative success rate: 0.8387096774193549
+EP 32 success: True; Cumulative success rate: 0.84375
+EP 33 success: True; Cumulative success rate: 0.8484848484848485
+EP 34 success: True; Cumulative success rate: 0.8529411764705882
+EP 35 success: False; Cumulative success rate: 0.8285714285714286
+EP 36 success: True; Cumulative success rate: 0.8333333333333334
+EP 37 success: True; Cumulative success rate: 0.8378378378378378
+EP 38 success: True; Cumulative success rate: 0.8421052631578947
+EP 39 success: True; Cumulative success rate: 0.8461538461538461
+EP 40 success: True; Cumulative success rate: 0.85
+EP 41 success: False; Cumulative success rate: 0.8292682926829268
+EP 42 success: False; Cumulative success rate: 0.8095238095238095
+EP 43 success: True; Cumulative success rate: 0.813953488372093
+EP 44 success: True; Cumulative success rate: 0.8181818181818182
+EP 45 success: True; Cumulative success rate: 0.8222222222222222
+EP 46 success: True; Cumulative success rate: 0.8260869565217391
+EP 47 success: False; Cumulative success rate: 0.8085106382978723
+EP 48 success: True; Cumulative success rate: 0.8125
+EP 49 success: False; Cumulative success rate: 0.7959183673469388
+EP 50 success: True; Cumulative success rate: 0.8
+Collecting 50 episodes took 329.31 seconds
+Results for robocasa/TurnOnElectricKettle:
+Success rate: 0.80
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnElectricKettle/stats.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: False; Cumulative success rate: 0.0
+EP 9 success: False; Cumulative success rate: 0.0
+EP 10 success: False; Cumulative success rate: 0.0
+EP 11 success: False; Cumulative success rate: 0.0
+EP 12 success: True; Cumulative success rate: 0.08333333333333333
+EP 13 success: False; Cumulative success rate: 0.07692307692307693
+EP 14 success: True; Cumulative success rate: 0.14285714285714285
+EP 15 success: True; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: False; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: False; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: True; Cumulative success rate: 0.16666666666666666
+EP 25 success: False; Cumulative success rate: 0.16
+EP 26 success: False; Cumulative success rate: 0.15384615384615385
+EP 27 success: True; Cumulative success rate: 0.18518518518518517
+EP 28 success: True; Cumulative success rate: 0.21428571428571427
+EP 29 success: False; Cumulative success rate: 0.20689655172413793
+EP 30 success: False; Cumulative success rate: 0.2
+EP 31 success: False; Cumulative success rate: 0.1935483870967742
+EP 32 success: False; Cumulative success rate: 0.1875
+EP 33 success: False; Cumulative success rate: 0.18181818181818182
+EP 34 success: False; Cumulative success rate: 0.17647058823529413
+EP 35 success: False; Cumulative success rate: 0.17142857142857143
+EP 36 success: False; Cumulative success rate: 0.16666666666666666
+EP 37 success: False; Cumulative success rate: 0.16216216216216217
+EP 38 success: False; Cumulative success rate: 0.15789473684210525
+EP 39 success: False; Cumulative success rate: 0.15384615384615385
+EP 40 success: True; Cumulative success rate: 0.175
+EP 41 success: True; Cumulative success rate: 0.1951219512195122
+EP 42 success: True; Cumulative success rate: 0.21428571428571427
+EP 43 success: False; Cumulative success rate: 0.20930232558139536
+EP 44 success: False; Cumulative success rate: 0.20454545454545456
+EP 45 success: False; Cumulative success rate: 0.2
+EP 46 success: True; Cumulative success rate: 0.21739130434782608
+EP 47 success: False; Cumulative success rate: 0.2127659574468085
+EP 48 success: False; Cumulative success rate: 0.20833333333333334
+EP 49 success: True; Cumulative success rate: 0.22448979591836735
+EP 50 success: False; Cumulative success rate: 0.22
+Collecting 50 episodes took 355.51 seconds
+Results for robocasa/TurnOnMicrowave:
+Success rate: 0.22
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnMicrowave/stats.json
+
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: False; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: True; Cumulative success rate: 0.5384615384615384
+EP 14 success: False; Cumulative success rate: 0.5
+EP 15 success: True; Cumulative success rate: 0.5333333333333333
+EP 16 success: False; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: True; Cumulative success rate: 0.45454545454545453
+EP 23 success: True; Cumulative success rate: 0.4782608695652174
+EP 24 success: True; Cumulative success rate: 0.5
+EP 25 success: True; Cumulative success rate: 0.52
+EP 26 success: False; Cumulative success rate: 0.5
+EP 27 success: True; Cumulative success rate: 0.5185185185185185
+EP 28 success: False; Cumulative success rate: 0.5
+EP 29 success: True; Cumulative success rate: 0.5172413793103449
+EP 30 success: True; Cumulative success rate: 0.5333333333333333
+EP 31 success: False; Cumulative success rate: 0.5161290322580645
+EP 32 success: True; Cumulative success rate: 0.53125
+EP 33 success: True; Cumulative success rate: 0.5454545454545454
+EP 34 success: True; Cumulative success rate: 0.5588235294117647
+EP 35 success: False; Cumulative success rate: 0.5428571428571428
+EP 36 success: True; Cumulative success rate: 0.5555555555555556
+EP 37 success: False; Cumulative success rate: 0.5405405405405406
+EP 38 success: False; Cumulative success rate: 0.5263157894736842
+EP 39 success: False; Cumulative success rate: 0.5128205128205128
+EP 40 success: False; Cumulative success rate: 0.5
+EP 41 success: False; Cumulative success rate: 0.4878048780487805
+EP 42 success: False; Cumulative success rate: 0.47619047619047616
+EP 43 success: False; Cumulative success rate: 0.46511627906976744
+EP 44 success: False; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: True; Cumulative success rate: 0.4782608695652174
+EP 47 success: False; Cumulative success rate: 0.46808510638297873
+EP 48 success: False; Cumulative success rate: 0.4583333333333333
+EP 49 success: True; Cumulative success rate: 0.46938775510204084
+EP 50 success: False; Cumulative success rate: 0.46
+Collecting 50 episodes took 527.79 seconds
+Results for robocasa/TurnOnSinkFaucet:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnSinkFaucet/stats.json
+
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: False; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: True; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: True; Cumulative success rate: 0.42105263157894735
+EP 20 success: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: True; Cumulative success rate: 0.4583333333333333
+EP 25 success: True; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: False; Cumulative success rate: 0.4444444444444444
+EP 28 success: True; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: False; Cumulative success rate: 0.43333333333333335
+EP 31 success: True; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: False; Cumulative success rate: 0.4411764705882353
+EP 35 success: False; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: True; Cumulative success rate: 0.43243243243243246
+EP 38 success: False; Cumulative success rate: 0.42105263157894735
+EP 39 success: False; Cumulative success rate: 0.41025641025641024
+EP 40 success: True; Cumulative success rate: 0.425
+EP 41 success: False; Cumulative success rate: 0.4146341463414634
+EP 42 success: False; Cumulative success rate: 0.40476190476190477
+EP 43 success: False; Cumulative success rate: 0.3953488372093023
+EP 44 success: False; Cumulative success rate: 0.38636363636363635
+EP 45 success: False; Cumulative success rate: 0.37777777777777777
+EP 46 success: True; Cumulative success rate: 0.391304347826087
+EP 47 success: True; Cumulative success rate: 0.40425531914893614
+EP 48 success: True; Cumulative success rate: 0.4166666666666667
+EP 49 success: True; Cumulative success rate: 0.42857142857142855
+EP 50 success: True; Cumulative success rate: 0.44
+Collecting 50 episodes took 317.80 seconds
+Results for robocasa/TurnOnStove:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnStove/stats.json
+
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: True; Cumulative success rate: 1.0
+EP 11 success: True; Cumulative success rate: 1.0
+EP 12 success: True; Cumulative success rate: 1.0
+EP 13 success: True; Cumulative success rate: 1.0
+EP 14 success: True; Cumulative success rate: 1.0
+EP 15 success: True; Cumulative success rate: 1.0
+EP 16 success: True; Cumulative success rate: 1.0
+EP 17 success: True; Cumulative success rate: 1.0
+EP 18 success: True; Cumulative success rate: 1.0
+EP 19 success: True; Cumulative success rate: 1.0
+EP 20 success: True; Cumulative success rate: 1.0
+EP 21 success: True; Cumulative success rate: 1.0
+EP 22 success: True; Cumulative success rate: 1.0
+EP 23 success: True; Cumulative success rate: 1.0
+EP 24 success: True; Cumulative success rate: 1.0
+EP 25 success: False; Cumulative success rate: 0.96
+EP 26 success: False; Cumulative success rate: 0.9230769230769231
+EP 27 success: True; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: True; Cumulative success rate: 0.9354838709677419
+EP 32 success: True; Cumulative success rate: 0.9375
+EP 33 success: True; Cumulative success rate: 0.9393939393939394
+EP 34 success: True; Cumulative success rate: 0.9411764705882353
+EP 35 success: True; Cumulative success rate: 0.9428571428571428
+EP 36 success: True; Cumulative success rate: 0.9444444444444444
+EP 37 success: True; Cumulative success rate: 0.9459459459459459
+EP 38 success: True; Cumulative success rate: 0.9473684210526315
+EP 39 success: True; Cumulative success rate: 0.9487179487179487
+EP 40 success: True; Cumulative success rate: 0.95
+EP 41 success: False; Cumulative success rate: 0.926829268292683
+EP 42 success: True; Cumulative success rate: 0.9285714285714286
+EP 43 success: True; Cumulative success rate: 0.9302325581395349
+EP 44 success: True; Cumulative success rate: 0.9318181818181818
+EP 45 success: True; Cumulative success rate: 0.9333333333333333
+EP 46 success: True; Cumulative success rate: 0.9347826086956522
+EP 47 success: True; Cumulative success rate: 0.9361702127659575
+EP 48 success: True; Cumulative success rate: 0.9375
+EP 49 success: True; Cumulative success rate: 0.9387755102040817
+EP 50 success: True; Cumulative success rate: 0.94
+Collecting 50 episodes took 300.42 seconds
+Results for robocasa/TurnSinkSpout:
+Success rate: 0.94
+saved stats to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnSinkSpout/stats.json
+
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 1h 35m 30s (5730.38s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4530 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 6 | None
+CloseFridge: 88 | None
+CloseToasterOvenDoor: 74 | None
+CoffeeSetupMug: 32 | None
+NavigateKitchen: 20 | None
+OpenCabinet: 44 | None
+OpenDrawer: 48 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 40 | None
+PickPlaceCounterToStove: 40 | None
+PickPlaceDrawerToCounter: 44 | None
+PickPlaceSinkToCounter: 82 | None
+PickPlaceToasterToCounter: 70 | None
+PickPlaceCabinetToCounter: 42 | None
+TurnOnElectricKettle: 80 | None
+TurnOnMicrowave: 22 | None
+TurnOffMicrowave: 34 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 74 | None
+TurnOnSinkFaucet: 46 | None
+TurnSinkSpout: 94 | None
+TurnOffSinkFaucet: 84 | None
+AdjustWaterTemperature: 36 | None
+TurnOffStove: 26 | None
+TurnOnStove: 44 | None
+AdjustToasterOvenTemperature: 24 | None
+AVG: 51.5 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000/summary.txt
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b911ebbef26e31ed525a85f1ad91f67ac30366a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.24
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustWaterTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/AdjustWaterTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.36
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseBlenderLid/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseBlenderLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c1f56e5c13c3b25ed58357608e90043f6e4ed2
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseBlenderLid/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.06
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseFridge/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseFridge/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseFridge/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseToasterOvenDoor/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CloseToasterOvenDoor/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CoffeeSetupMug/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..52936d3f2e553b4881130dd0bd4eaeed1ff3b57e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/CoffeeSetupMug/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.32
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/NavigateKitchen/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/NavigateKitchen/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cd07d1c0b368bbd29e4e592d28868e10256ff1
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/NavigateKitchen/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.2
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenCabinet/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenCabinet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenDrawer/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenDrawer/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenElectricKettleLid/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenElectricKettleLid/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenStandMixerHead/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..052dc0bdd096d10e1998da20fb1d51d7b4d02be7
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/OpenStandMixerHead/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.9
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCabinetToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToCabinet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToStove/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceCounterToStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceSinkToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceSinkToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceSinkToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.82
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceToasterToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdef758fa6347b21c68f825694da92b1232e4691
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/PickPlaceToasterToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.7
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffStove/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..580fff78905954a1f6a4a881893574bcfb5bda00
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOffStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.26
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnElectricKettle/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefca40f97b8e5d8fbb07603e0a548dc6927332a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnElectricKettle/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.8
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnStove/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnOnStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnSinkSpout/stats.json b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnSinkSpout/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2da3e2ae5f4745c4b5ac46af6e02aa9a54c7aa4
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/evals/pretrain/TurnSinkSpout/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.94
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-60000/summary.txt b/Atomic26_baseline_v2/checkpoint-60000/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de8fc7b0687d779017804ca5541e52ad6949b22e
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-60000/summary.txt
@@ -0,0 +1,50 @@
+Eval metadata
+- total_eval_time: 1h 35m 30s (5730.38s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000
+- checkpoint_name: checkpoint-60000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-60000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-60000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4530 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 6 | None
+CloseFridge: 88 | None
+CloseToasterOvenDoor: 74 | None
+CoffeeSetupMug: 32 | None
+NavigateKitchen: 20 | None
+OpenCabinet: 44 | None
+OpenDrawer: 48 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 40 | None
+PickPlaceCounterToStove: 40 | None
+PickPlaceDrawerToCounter: 44 | None
+PickPlaceSinkToCounter: 82 | None
+PickPlaceToasterToCounter: 70 | None
+PickPlaceCabinetToCounter: 42 | None
+TurnOnElectricKettle: 80 | None
+TurnOnMicrowave: 22 | None
+TurnOffMicrowave: 34 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 74 | None
+TurnOnSinkFaucet: 46 | None
+TurnSinkSpout: 94 | None
+TurnOffSinkFaucet: 84 | None
+AdjustWaterTemperature: 36 | None
+TurnOffStove: 26 | None
+TurnOnStove: 44 | None
+AdjustToasterOvenTemperature: 24 | None
+AVG: 51.5 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddab7e73285cc9bdba09a40651e3aadab6dff391
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/AdjustToasterOvenTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.16
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/AdjustWaterTemperature/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/AdjustWaterTemperature/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CloseFridge/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CloseFridge/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CloseFridge/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.84
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CoffeeSetupMug/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CoffeeSetupMug/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/OpenStandMixerHead/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..052dc0bdd096d10e1998da20fb1d51d7b4d02be7
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/OpenStandMixerHead/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.9
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceCounterToStove/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceCounterToStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceDrawerToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.36
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/SlideDishwasherRack/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdef758fa6347b21c68f825694da92b1232e4691
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/SlideDishwasherRack/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.7
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffMicrowave/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b911ebbef26e31ed525a85f1ad91f67ac30366a
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.24
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.84
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffStove/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOffStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnSinkFaucet/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.66
+}
\ No newline at end of file
diff --git a/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnStove/stats.json b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb
--- /dev/null
+++ b/Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.36
+}
\ No newline at end of file