Add files using upload-large-folder tool

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustToasterOvenTemperature/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.1
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustWaterTemperature/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseBlenderLid/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.04
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseFridge/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.64
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseToasterOvenDoor/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CoffeeSetupMug/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/NavigateKitchen/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.16
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenCabinet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.36
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenDrawer/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenElectricKettleLid/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.6
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenStandMixerHead/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCabinetToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToCabinet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.32
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToStove/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceDrawerToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.2
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceSinkToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceToasterToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.6
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/SlideDishwasherRack/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.62
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffMicrowave/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffSinkFaucet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.86
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffStove/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.18
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnElectricKettle/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.66
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnMicrowave/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnSinkFaucet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.64
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnStove/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.32
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnSinkSpout/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.82
+}

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml

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+experiment_name: rkd_temp_ablation_from_trained_base
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.05/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only
+sweep:
+  rkd_temp:
+  - 0.05
+  - 0.1
+  - 0.2
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase3_rkd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: freeze_processing_line
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: false
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.0
+    rkd_action_temp: 0.05
+    rkd_vlm_temp: 0.05
+    rkd_relation_mode: token_pair_mean
+resolved_sweep:
+  rkd_temp: 0.05

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml

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+experiment_name: rkd_temp_ablation_from_trained_base
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_${sweep.rkd_temp}/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only
+sweep:
+  rkd_temp:
+  - 0.05
+  - 0.1
+  - 0.2
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase3_rkd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: freeze_processing_line
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: false
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.0
+    rkd_action_temp: ${sweep.rkd_temp}
+    rkd_vlm_temp: ${sweep.rkd_temp}
+    rkd_relation_mode: token_pair_mean

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/selected_eval_config.yaml

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+experiment_name: rkd_temp_ablation_from_trained_base
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.05/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only
+sweep:
+  rkd_temp:
+  - 0.05
+  - 0.1
+  - 0.2
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase3_rkd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: freeze_processing_line
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: false
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.0
+    rkd_action_temp: 0.05
+    rkd_vlm_temp: 0.05
+    rkd_relation_mode: token_pair_mean
+resolved_sweep:
+  rkd_temp: 0.05

RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/summary.txt

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+Eval metadata
+- total_eval_time: 3h 1m 52s (10911.63s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05
+- video_dir: /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05
+- 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/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 6303 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml
+  - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 4 | None
+CloseFridge: 64 | None
+CloseToasterOvenDoor: 54 | None
+CoffeeSetupMug: 40 | None
+NavigateKitchen: 16 | None
+OpenCabinet: 36 | None
+OpenDrawer: 42 | None
+OpenStandMixerHead: 88 | None
+PickPlaceCounterToCabinet: 32 | None
+PickPlaceCounterToStove: 30 | None
+PickPlaceDrawerToCounter: 20 | None
+PickPlaceSinkToCounter: 44 | None
+PickPlaceToasterToCounter: 60 | None
+PickPlaceCabinetToCounter: 48 | None
+TurnOnElectricKettle: 66 | None
+TurnOnMicrowave: 30 | None
+TurnOffMicrowave: 28 | None
+OpenElectricKettleLid: 60 | None
+SlideDishwasherRack: 62 | None
+TurnOnSinkFaucet: 64 | None
+TurnSinkSpout: 82 | None
+TurnOffSinkFaucet: 86 | None
+AdjustWaterTemperature: 34 | None
+TurnOffStove: 18 | None
+TurnOnStove: 32 | None
+AdjustToasterOvenTemperature: 10 | None
+AVG: 44.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenCabinet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}

RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenElectricKettleLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.5
+}

RKD_Processing_line_Only/rkd_temp_0.2/phase3/resolved_config.yaml

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+experiment_name: rkd_temp_ablation_from_trained_base
+policy_type: groot_rkd
+base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only
+sweep:
+  rkd_temp:
+  - 0.05
+  - 0.1
+  - 0.2
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase2_rkd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: 0.2
+    rkd_vlm_temp: 0.2
+    rkd_relation_mode: token_pair_mean
+- name: phase3_rkd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: 0.2
+    rkd_vlm_temp: 0.2
+    rkd_relation_mode: token_pair_mean
+resolved_sweep:
+  rkd_temp: 0.2

RKD_Processing_line_Only/rkd_temp_0.2/phase3/rkd_temp_ablation.yaml

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+experiment_name: rkd_temp_ablation_from_trained_base
+policy_type: groot_rkd
+base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only
+sweep:
+  rkd_temp:
+  - 0.05
+  - 0.1
+  - 0.2
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase2_rkd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: ${sweep.rkd_temp}
+    rkd_vlm_temp: ${sweep.rkd_temp}
+    rkd_relation_mode: token_pair_mean
+- name: phase3_rkd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: ${sweep.rkd_temp}
+    rkd_vlm_temp: ${sweep.rkd_temp}
+    rkd_relation_mode: token_pair_mean

RKD_Processing_line_Only/rkd_temp_0.2/phase3/summary.txt

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+Eval metadata
+- total_eval_time: 3h 30m 25s (12624.51s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2
+- video_dir: /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3
+- 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/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 1243 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/resolved_config.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/rkd_temp_ablation.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3/rkd_temp_ablation.yaml
+  - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 8 | None
+CloseFridge: 76 | None
+CloseToasterOvenDoor: 68 | None
+CoffeeSetupMug: 42 | None
+NavigateKitchen: 38 | None
+OpenCabinet: 40 | None
+OpenDrawer: 56 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 50 | None
+PickPlaceCounterToStove: 46 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 68 | None
+PickPlaceToasterToCounter: 82 | None
+PickPlaceCabinetToCounter: 46 | None
+TurnOnElectricKettle: 70 | None
+TurnOnMicrowave: 34 | None
+TurnOffMicrowave: 30 | None
+OpenElectricKettleLid: 50 | None
+SlideDishwasherRack: 72 | None
+TurnOnSinkFaucet: 60 | None
+TurnSinkSpout: 90 | None
+TurnOffSinkFaucet: 80 | None
+AdjustWaterTemperature: 54 | None
+TurnOffStove: 32 | None
+TurnOnStove: 42 | None
+AdjustToasterOvenTemperature: 30 | None
+AVG: 53.5 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.84
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.7
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.32
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.94
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json

@@ -0,0 +1,4 @@
+{
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+    "success_rate": 0.68
+}

loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json

@@ -0,0 +1,4 @@
+{
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+    "success_rate": 0.38
+}

loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.2
+}

loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json

@@ -0,0 +1,4 @@
+{
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+    "success_rate": 0.54
+}

loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json

@@ -0,0 +1,4 @@
+{
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+    "success_rate": 0.04
+}

loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json

@@ -0,0 +1,4 @@
+{
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+    "success_rate": 0.84
+}

loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json

@@ -0,0 +1,4 @@
+{
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+    "success_rate": 0.8
+}