Add files using upload-large-folder tool

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseToasterOvenDoor/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.78
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/OpenDrawer/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/OpenElectricKettleLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCounterToCabinet/stats.json

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

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCounterToStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/SlideDishwasherRack/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.26
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnElectricKettle/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.86
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnSinkFaucet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.72
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCabinetToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceSinkToCounter/stats.json

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

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/eval_resume_gpu2.log

@@ -0,0 +1,744 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3
+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/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3
+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
+
+/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)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:3211
+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.
+PickPlaceCounterToStove stats already exsits. skipping.
+PickPlaceDrawerToCounter stats already exsits. skipping.
+PickPlaceSinkToCounter stats already exsits. skipping.
+PickPlaceToasterToCounter stats already exsits. skipping.
+SlideDishwasherRack stats already exsits. skipping.
+TurnOffMicrowave stats already exsits. skipping.
+TurnOffSinkFaucet stats already exsits. skipping.
+TurnOffStove stats already exsits. skipping.
+TurnOnElectricKettle stats already exsits. skipping.
+TurnOnMicrowave stats already exsits. skipping.
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+[robosuite 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)
+[robosuite 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)
+[robosuite 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)
+[robosuite 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)
+[robosuite 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 `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+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)
+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: False; 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: False; Cumulative success rate: 0.6666666666666666
+EP 16 success: False; 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: False; 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: True; Cumulative success rate: 0.5909090909090909
+EP 23 success: True; Cumulative success rate: 0.6086956521739131
+EP 24 success: False; 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: 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: True; Cumulative success rate: 0.6875
+EP 33 success: True; Cumulative success rate: 0.696969696969697
+EP 34 success: False; Cumulative success rate: 0.6764705882352942
+EP 35 success: False; 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: 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: True; Cumulative success rate: 0.7142857142857143
+EP 43 success: True; Cumulative success rate: 0.7209302325581395
+EP 44 success: False; Cumulative success rate: 0.7045454545454546
+EP 45 success: False; Cumulative success rate: 0.6888888888888889
+EP 46 success: False; Cumulative success rate: 0.6739130434782609
+EP 47 success: False; 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 1258.71 seconds
+Results for robocasa/TurnOnSinkFaucet:
+Success rate: 0.66
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json
+
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/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)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, 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)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+[robosuite 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)
+[robosuite 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)
+[robosuite 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)
+[robosuite 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)
+[robosuite 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 `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+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)
+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: 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: False; 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: 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: 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: False; Cumulative success rate: 0.3103448275862069
+EP 30 success: False; Cumulative success rate: 0.3
+EP 31 success: False; Cumulative success rate: 0.2903225806451613
+EP 32 success: True; Cumulative success rate: 0.3125
+EP 33 success: False; Cumulative success rate: 0.30303030303030304
+EP 34 success: False; 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: True; 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: 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: True; Cumulative success rate: 0.30434782608695654
+EP 47 success: True; Cumulative success rate: 0.3191489361702128
+EP 48 success: True; Cumulative success rate: 0.3333333333333333
+EP 49 success: True; Cumulative success rate: 0.3469387755102041
+EP 50 success: True; Cumulative success rate: 0.36
+Collecting 50 episodes took 844.34 seconds
+Results for robocasa/TurnOnStove:
+Success rate: 0.36
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json
+
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+[robosuite 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)
+[robosuite 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)
+[robosuite 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)
+[robosuite 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)
+[robosuite 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 `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnSinkSpout with split=pretrain
+/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)
+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: False; 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: False; 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: False; Cumulative success rate: 0.8787878787878788
+EP 34 success: True; 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: True; Cumulative success rate: 0.9
+EP 41 success: True; 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: False; 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: False; 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 470.69 seconds
+Results for robocasa/TurnSinkSpout:
+Success rate: 0.88
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json
+
+Eval metadata
+- total_eval_time: 43m 13s (2592.55s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1
+- video_dir: /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/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/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 3211 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/resolved_config.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/rkd_retrain_best2_phase3_only.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/rkd_retrain_best2_phase3_only.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 14 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 70 | None
+CoffeeSetupMug: 44 | None
+NavigateKitchen: 38 | None
+OpenCabinet: 52 | None
+OpenDrawer: 44 | None
+OpenStandMixerHead: 86 | None
+PickPlaceCounterToCabinet: 58 | None
+PickPlaceCounterToStove: 38 | None
+PickPlaceDrawerToCounter: 30 | None
+PickPlaceSinkToCounter: 56 | None
+PickPlaceToasterToCounter: 76 | None
+PickPlaceCabinetToCounter: 44 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 28 | None
+TurnOffMicrowave: 28 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 66 | None
+TurnSinkSpout: 88 | None
+TurnOffSinkFaucet: 92 | None
+AdjustWaterTemperature: 52 | None
+TurnOffStove: 30 | None
+TurnOnStove: 36 | None
+AdjustToasterOvenTemperature: 20 | 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/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/summary.txt

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json

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

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.52
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.14
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json

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

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.52
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.86
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.58
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.76
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.72
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.66
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.36
+}

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json

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

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/resolved_config.yaml

@@ -0,0 +1,32 @@
+experiment_name: rkd_phase3_aux_fixed_0p5_retrain_seed44
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44
+sweep:
+  rkd_temp:
+  - 0.1
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 44
+model: null
+phases:
+- name: phase3_fm_rkd_fixed_0p5
+  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: 0.5
+    rkd_action_temp: 0.1
+    rkd_vlm_temp: 0.1
+    rkd_relation_mode: token_pair_mean
+resolved_sweep:
+  rkd_temp: 0.1

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/rkd_retrain_best2_phase3_only.yaml

@@ -0,0 +1,30 @@
+experiment_name: rkd_phase3_aux_fixed_0p5_retrain_seed44
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44
+sweep:
+  rkd_temp:
+  - 0.1
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 44
+model: null
+phases:
+- name: phase3_fm_rkd_fixed_0p5
+  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: 0.5
+    rkd_action_temp: ${sweep.rkd_temp}
+    rkd_vlm_temp: ${sweep.rkd_temp}
+    rkd_relation_mode: token_pair_mean

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/selected_eval_config.yaml

@@ -0,0 +1,32 @@
+experiment_name: rkd_phase3_aux_fixed_0p5_retrain_seed44
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44
+sweep:
+  rkd_temp:
+  - 0.1
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 44
+model: null
+phases:
+- name: phase3_fm_rkd_fixed_0p5
+  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: 0.5
+    rkd_action_temp: 0.1
+    rkd_vlm_temp: 0.1
+    rkd_relation_mode: token_pair_mean
+resolved_sweep:
+  rkd_temp: 0.1

retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/summary.txt

@@ -0,0 +1,56 @@
+Eval metadata
+- total_eval_time: 43m 13s (2592.55s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1
+- video_dir: /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/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/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 3211 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/resolved_config.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/rkd_retrain_best2_phase3_only.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed44/rkd_temp_0.1/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/rkd_retrain_best2_phase3_only.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 14 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 70 | None
+CoffeeSetupMug: 44 | None
+NavigateKitchen: 38 | None
+OpenCabinet: 52 | None
+OpenDrawer: 44 | None
+OpenStandMixerHead: 86 | None
+PickPlaceCounterToCabinet: 58 | None
+PickPlaceCounterToStove: 38 | None
+PickPlaceDrawerToCounter: 30 | None
+PickPlaceSinkToCounter: 56 | None
+PickPlaceToasterToCounter: 76 | None
+PickPlaceCabinetToCounter: 44 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 28 | None
+TurnOffMicrowave: 28 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 66 | None
+TurnSinkSpout: 88 | None
+TurnOffSinkFaucet: 92 | None
+AdjustWaterTemperature: 52 | None
+TurnOffStove: 30 | None
+TurnOnStove: 36 | None
+AdjustToasterOvenTemperature: 20 | None
+AVG: 52.6 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json

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

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.82
+}

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.6
+}

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json

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

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}

retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json

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