diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseToasterOvenDoor/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec53934e1c40b201e514fbc468a29542800e0a8
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/OpenDrawer/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/OpenElectricKettleLid/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCounterToStove/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/SlideDishwasherRack/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffMicrowave/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..580fff78905954a1f6a4a881893574bcfb5bda00
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnElectricKettle/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..458fb974d3e8cd371d62316c196977f68e872f47
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnMicrowave/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnSinkFaucet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d156665a0626304d3b122b77372ed54b5c80f9
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceSinkToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceSinkToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdef758fa6347b21c68f825694da92b1232e4691
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/eval.log b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..4282672103c7ae5ba1ec84820551dfd8b42c4777
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/eval.log
@@ -0,0 +1,5073 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:01<00:01,  1.12s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.12it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.08it/s]
+/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://0.0.0.0:3209
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite 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: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: True; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: True; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: False; Cumulative success rate: 0.19047619047619047
+EP 22 success: False; Cumulative success rate: 0.18181818181818182
+EP 23 success: False; Cumulative success rate: 0.17391304347826086
+EP 24 success: False; Cumulative success rate: 0.16666666666666666
+EP 25 success: False; Cumulative success rate: 0.16
+EP 26 success: False; Cumulative success rate: 0.15384615384615385
+EP 27 success: True; Cumulative success rate: 0.18518518518518517
+EP 28 success: False; Cumulative success rate: 0.17857142857142858
+EP 29 success: False; Cumulative success rate: 0.1724137931034483
+EP 30 success: True; Cumulative success rate: 0.2
+EP 31 success: True; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: False; Cumulative success rate: 0.20588235294117646
+EP 35 success: False; Cumulative success rate: 0.2
+EP 36 success: False; Cumulative success rate: 0.19444444444444445
+EP 37 success: True; Cumulative success rate: 0.21621621621621623
+EP 38 success: False; Cumulative success rate: 0.21052631578947367
+EP 39 success: False; Cumulative success rate: 0.20512820512820512
+EP 40 success: False; Cumulative success rate: 0.2
+EP 41 success: False; Cumulative success rate: 0.1951219512195122
+EP 42 success: False; Cumulative success rate: 0.19047619047619047
+EP 43 success: True; Cumulative success rate: 0.20930232558139536
+EP 44 success: False; Cumulative success rate: 0.20454545454545456
+EP 45 success: False; Cumulative success rate: 0.2
+EP 46 success: False; Cumulative success rate: 0.1956521739130435
+EP 47 success: True; Cumulative success rate: 0.2127659574468085
+EP 48 success: False; Cumulative success rate: 0.20833333333333334
+EP 49 success: False; Cumulative success rate: 0.20408163265306123
+EP 50 success: False; Cumulative success rate: 0.2
+Collecting 50 episodes took 889.74 seconds
+Results for robocasa/AdjustToasterOvenTemperature:
+Success rate: 0.20
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+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: True; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: True; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: False; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: True; Cumulative success rate: 0.5
+EP 15 success: False; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: True; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: False; Cumulative success rate: 0.5263157894736842
+EP 20 success: False; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: True; Cumulative success rate: 0.5416666666666666
+EP 25 success: False; Cumulative success rate: 0.52
+EP 26 success: False; Cumulative success rate: 0.5
+EP 27 success: True; Cumulative success rate: 0.5185185185185185
+EP 28 success: False; Cumulative success rate: 0.5
+EP 29 success: False; Cumulative success rate: 0.4827586206896552
+EP 30 success: False; Cumulative success rate: 0.4666666666666667
+EP 31 success: True; Cumulative success rate: 0.4838709677419355
+EP 32 success: False; Cumulative success rate: 0.46875
+EP 33 success: True; Cumulative success rate: 0.48484848484848486
+EP 34 success: True; Cumulative success rate: 0.5
+EP 35 success: True; Cumulative success rate: 0.5142857142857142
+EP 36 success: True; Cumulative success rate: 0.5277777777777778
+EP 37 success: True; Cumulative success rate: 0.5405405405405406
+EP 38 success: False; Cumulative success rate: 0.5263157894736842
+EP 39 success: True; Cumulative success rate: 0.5384615384615384
+EP 40 success: False; Cumulative success rate: 0.525
+EP 41 success: False; Cumulative success rate: 0.5121951219512195
+EP 42 success: False; Cumulative success rate: 0.5
+EP 43 success: True; Cumulative success rate: 0.5116279069767442
+EP 44 success: False; Cumulative success rate: 0.5
+EP 45 success: True; Cumulative success rate: 0.5111111111111111
+EP 46 success: True; Cumulative success rate: 0.5217391304347826
+EP 47 success: False; Cumulative success rate: 0.5106382978723404
+EP 48 success: True; Cumulative success rate: 0.5208333333333334
+EP 49 success: False; Cumulative success rate: 0.5102040816326531
+EP 50 success: True; Cumulative success rate: 0.52
+Collecting 50 episodes took 817.56 seconds
+Results for robocasa/AdjustWaterTemperature:
+Success rate: 0.52
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: False; Cumulative success rate: 0.0
+EP 9 success: False; Cumulative success rate: 0.0
+EP 10 success: False; Cumulative success rate: 0.0
+EP 11 success: False; Cumulative success rate: 0.0
+EP 12 success: True; Cumulative success rate: 0.08333333333333333
+EP 13 success: True; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: False; Cumulative success rate: 0.125
+EP 17 success: False; Cumulative success rate: 0.11764705882352941
+EP 18 success: True; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: False; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: False; Cumulative success rate: 0.125
+EP 25 success: False; Cumulative success rate: 0.12
+EP 26 success: True; Cumulative success rate: 0.15384615384615385
+EP 27 success: True; Cumulative success rate: 0.18518518518518517
+EP 28 success: False; Cumulative success rate: 0.17857142857142858
+EP 29 success: False; Cumulative success rate: 0.1724137931034483
+EP 30 success: False; Cumulative success rate: 0.16666666666666666
+EP 31 success: False; Cumulative success rate: 0.16129032258064516
+EP 32 success: False; Cumulative success rate: 0.15625
+EP 33 success: False; Cumulative success rate: 0.15151515151515152
+EP 34 success: False; Cumulative success rate: 0.14705882352941177
+EP 35 success: False; Cumulative success rate: 0.14285714285714285
+EP 36 success: True; Cumulative success rate: 0.16666666666666666
+EP 37 success: False; Cumulative success rate: 0.16216216216216217
+EP 38 success: True; Cumulative success rate: 0.18421052631578946
+EP 39 success: False; Cumulative success rate: 0.1794871794871795
+EP 40 success: False; Cumulative success rate: 0.175
+EP 41 success: False; Cumulative success rate: 0.17073170731707318
+EP 42 success: False; Cumulative success rate: 0.16666666666666666
+EP 43 success: False; Cumulative success rate: 0.16279069767441862
+EP 44 success: False; Cumulative success rate: 0.1590909090909091
+EP 45 success: False; Cumulative success rate: 0.15555555555555556
+EP 46 success: False; Cumulative success rate: 0.15217391304347827
+EP 47 success: False; Cumulative success rate: 0.14893617021276595
+EP 48 success: False; Cumulative success rate: 0.14583333333333334
+EP 49 success: False; Cumulative success rate: 0.14285714285714285
+EP 50 success: False; Cumulative success rate: 0.14
+Collecting 50 episodes took 1641.36 seconds
+Results for robocasa/CloseBlenderLid:
+Success rate: 0.14
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: False; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: True; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: True; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: True; Cumulative success rate: 0.7692307692307693
+EP 27 success: True; Cumulative success rate: 0.7777777777777778
+EP 28 success: True; Cumulative success rate: 0.7857142857142857
+EP 29 success: False; Cumulative success rate: 0.7586206896551724
+EP 30 success: True; Cumulative success rate: 0.7666666666666667
+EP 31 success: True; Cumulative success rate: 0.7741935483870968
+EP 32 success: True; Cumulative success rate: 0.78125
+EP 33 success: True; Cumulative success rate: 0.7878787878787878
+EP 34 success: True; Cumulative success rate: 0.7941176470588235
+EP 35 success: True; Cumulative success rate: 0.8
+EP 36 success: True; Cumulative success rate: 0.8055555555555556
+EP 37 success: True; Cumulative success rate: 0.8108108108108109
+EP 38 success: True; Cumulative success rate: 0.8157894736842105
+EP 39 success: False; Cumulative success rate: 0.7948717948717948
+EP 40 success: True; Cumulative success rate: 0.8
+EP 41 success: True; Cumulative success rate: 0.8048780487804879
+EP 42 success: True; Cumulative success rate: 0.8095238095238095
+EP 43 success: True; Cumulative success rate: 0.813953488372093
+EP 44 success: False; Cumulative success rate: 0.7954545454545454
+EP 45 success: True; Cumulative success rate: 0.8
+EP 46 success: True; Cumulative success rate: 0.8043478260869565
+EP 47 success: True; Cumulative success rate: 0.8085106382978723
+EP 48 success: True; Cumulative success rate: 0.8125
+EP 49 success: False; Cumulative success rate: 0.7959183673469388
+EP 50 success: True; Cumulative success rate: 0.8
+Collecting 50 episodes took 1763.04 seconds
+Results for robocasa/CloseFridge:
+Success rate: 0.80
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: False; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: True; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: False; Cumulative success rate: 0.7368421052631579
+EP 20 success: True; Cumulative success rate: 0.75
+EP 21 success: False; Cumulative success rate: 0.7142857142857143
+EP 22 success: True; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: True; Cumulative success rate: 0.75
+EP 25 success: False; Cumulative success rate: 0.72
+EP 26 success: True; Cumulative success rate: 0.7307692307692307
+EP 27 success: False; Cumulative success rate: 0.7037037037037037
+EP 28 success: True; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: False; Cumulative success rate: 0.7096774193548387
+EP 32 success: True; Cumulative success rate: 0.71875
+EP 33 success: True; Cumulative success rate: 0.7272727272727273
+EP 34 success: True; Cumulative success rate: 0.7352941176470589
+EP 35 success: True; Cumulative success rate: 0.7428571428571429
+EP 36 success: True; Cumulative success rate: 0.75
+EP 37 success: False; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: True; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: False; Cumulative success rate: 0.7380952380952381
+EP 43 success: False; Cumulative success rate: 0.7209302325581395
+EP 44 success: True; Cumulative success rate: 0.7272727272727273
+EP 45 success: False; Cumulative success rate: 0.7111111111111111
+EP 46 success: False; Cumulative success rate: 0.6956521739130435
+EP 47 success: True; Cumulative success rate: 0.7021276595744681
+EP 48 success: True; Cumulative success rate: 0.7083333333333334
+EP 49 success: False; Cumulative success rate: 0.6938775510204082
+EP 50 success: True; Cumulative success rate: 0.7
+Collecting 50 episodes took 863.44 seconds
+Results for robocasa/CloseToasterOvenDoor:
+Success rate: 0.70
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: True; Cumulative success rate: 0.14285714285714285
+EP 8 success: True; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: True; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: True; Cumulative success rate: 0.42857142857142855
+EP 15 success: True; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: True; Cumulative success rate: 0.5
+EP 19 success: False; Cumulative success rate: 0.47368421052631576
+EP 20 success: False; Cumulative success rate: 0.45
+EP 21 success: True; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: False; Cumulative success rate: 0.43478260869565216
+EP 24 success: True; Cumulative success rate: 0.4583333333333333
+EP 25 success: True; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: True; Cumulative success rate: 0.4827586206896552
+EP 30 success: False; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: True; Cumulative success rate: 0.48484848484848486
+EP 34 success: False; Cumulative success rate: 0.47058823529411764
+EP 35 success: True; Cumulative success rate: 0.4857142857142857
+EP 36 success: False; Cumulative success rate: 0.4722222222222222
+EP 37 success: False; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: False; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: False; Cumulative success rate: 0.4146341463414634
+EP 42 success: True; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: True; Cumulative success rate: 0.4222222222222222
+EP 46 success: False; Cumulative success rate: 0.41304347826086957
+EP 47 success: True; Cumulative success rate: 0.425531914893617
+EP 48 success: True; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 1120.49 seconds
+Results for robocasa/CoffeeSetupMug:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: True; Cumulative success rate: 0.36363636363636365
+EP 12 success: True; Cumulative success rate: 0.4166666666666667
+EP 13 success: True; Cumulative success rate: 0.46153846153846156
+EP 14 success: True; Cumulative success rate: 0.5
+EP 15 success: False; Cumulative success rate: 0.4666666666666667
+EP 16 success: False; Cumulative success rate: 0.4375
+EP 17 success: False; Cumulative success rate: 0.4117647058823529
+EP 18 success: True; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: True; Cumulative success rate: 0.45
+EP 21 success: False; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: False; Cumulative success rate: 0.37037037037037035
+EP 28 success: True; Cumulative success rate: 0.39285714285714285
+EP 29 success: True; Cumulative success rate: 0.41379310344827586
+EP 30 success: True; Cumulative success rate: 0.43333333333333335
+EP 31 success: True; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: False; Cumulative success rate: 0.4411764705882353
+EP 35 success: False; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: True; Cumulative success rate: 0.41025641025641024
+EP 40 success: False; Cumulative success rate: 0.4
+EP 41 success: True; Cumulative success rate: 0.4146341463414634
+EP 42 success: False; Cumulative success rate: 0.40476190476190477
+EP 43 success: False; Cumulative success rate: 0.3953488372093023
+EP 44 success: False; Cumulative success rate: 0.38636363636363635
+EP 45 success: False; Cumulative success rate: 0.37777777777777777
+EP 46 success: True; Cumulative success rate: 0.391304347826087
+EP 47 success: False; Cumulative success rate: 0.3829787234042553
+EP 48 success: True; Cumulative success rate: 0.3958333333333333
+EP 49 success: False; Cumulative success rate: 0.3877551020408163
+EP 50 success: False; Cumulative success rate: 0.38
+Collecting 50 episodes took 898.16 seconds
+Results for robocasa/NavigateKitchen:
+Success rate: 0.38
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+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: False; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: False; Cumulative success rate: 0.8333333333333334
+EP 13 success: False; Cumulative success rate: 0.7692307692307693
+EP 14 success: False; Cumulative success rate: 0.7142857142857143
+EP 15 success: False; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: False; Cumulative success rate: 0.6818181818181818
+EP 23 success: False; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: True; Cumulative success rate: 0.68
+EP 26 success: False; Cumulative success rate: 0.6538461538461539
+EP 27 success: False; Cumulative success rate: 0.6296296296296297
+EP 28 success: False; Cumulative success rate: 0.6071428571428571
+EP 29 success: True; Cumulative success rate: 0.6206896551724138
+EP 30 success: False; Cumulative success rate: 0.6
+EP 31 success: False; Cumulative success rate: 0.5806451612903226
+EP 32 success: True; Cumulative success rate: 0.59375
+EP 33 success: False; Cumulative success rate: 0.5757575757575758
+EP 34 success: False; Cumulative success rate: 0.5588235294117647
+EP 35 success: False; Cumulative success rate: 0.5428571428571428
+EP 36 success: True; Cumulative success rate: 0.5555555555555556
+EP 37 success: False; Cumulative success rate: 0.5405405405405406
+EP 38 success: True; Cumulative success rate: 0.5526315789473685
+EP 39 success: True; Cumulative success rate: 0.5641025641025641
+EP 40 success: False; Cumulative success rate: 0.55
+EP 41 success: False; Cumulative success rate: 0.5365853658536586
+EP 42 success: False; Cumulative success rate: 0.5238095238095238
+EP 43 success: False; Cumulative success rate: 0.5116279069767442
+EP 44 success: False; Cumulative success rate: 0.5
+EP 45 success: True; Cumulative success rate: 0.5111111111111111
+EP 46 success: False; Cumulative success rate: 0.5
+EP 47 success: True; Cumulative success rate: 0.5106382978723404
+EP 48 success: True; Cumulative success rate: 0.5208333333333334
+EP 49 success: False; Cumulative success rate: 0.5102040816326531
+EP 50 success: True; Cumulative success rate: 0.52
+Collecting 50 episodes took 1940.70 seconds
+Results for robocasa/OpenCabinet:
+Success rate: 0.52
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: True; Cumulative success rate: 0.2857142857142857
+EP 15 success: False; Cumulative success rate: 0.26666666666666666
+EP 16 success: False; Cumulative success rate: 0.25
+EP 17 success: False; Cumulative success rate: 0.23529411764705882
+EP 18 success: True; Cumulative success rate: 0.2777777777777778
+EP 19 success: False; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: True; Cumulative success rate: 0.2857142857142857
+EP 22 success: False; Cumulative success rate: 0.2727272727272727
+EP 23 success: True; Cumulative success rate: 0.30434782608695654
+EP 24 success: False; Cumulative success rate: 0.2916666666666667
+EP 25 success: False; Cumulative success rate: 0.28
+EP 26 success: True; Cumulative success rate: 0.3076923076923077
+EP 27 success: True; Cumulative success rate: 0.3333333333333333
+EP 28 success: True; Cumulative success rate: 0.35714285714285715
+EP 29 success: True; Cumulative success rate: 0.3793103448275862
+EP 30 success: True; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: True; Cumulative success rate: 0.40625
+EP 33 success: False; Cumulative success rate: 0.3939393939393939
+EP 34 success: True; Cumulative success rate: 0.4117647058823529
+EP 35 success: True; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: True; Cumulative success rate: 0.43243243243243246
+EP 38 success: True; Cumulative success rate: 0.4473684210526316
+EP 39 success: False; Cumulative success rate: 0.4358974358974359
+EP 40 success: True; Cumulative success rate: 0.45
+EP 41 success: True; Cumulative success rate: 0.4634146341463415
+EP 42 success: True; Cumulative success rate: 0.47619047619047616
+EP 43 success: False; Cumulative success rate: 0.46511627906976744
+EP 44 success: False; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: False; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: True; Cumulative success rate: 0.4583333333333333
+EP 49 success: False; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 1492.13 seconds
+Results for robocasa/OpenDrawer:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: False; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: False; Cumulative success rate: 0.6
+EP 16 success: True; Cumulative success rate: 0.625
+EP 17 success: False; Cumulative success rate: 0.5882352941176471
+EP 18 success: True; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: False; Cumulative success rate: 0.6190476190476191
+EP 22 success: True; Cumulative success rate: 0.6363636363636364
+EP 23 success: True; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: True; Cumulative success rate: 0.6666666666666666
+EP 28 success: False; Cumulative success rate: 0.6428571428571429
+EP 29 success: True; Cumulative success rate: 0.6551724137931034
+EP 30 success: False; Cumulative success rate: 0.6333333333333333
+EP 31 success: True; Cumulative success rate: 0.6451612903225806
+EP 32 success: True; Cumulative success rate: 0.65625
+EP 33 success: False; Cumulative success rate: 0.6363636363636364
+EP 34 success: True; Cumulative success rate: 0.6470588235294118
+EP 35 success: True; Cumulative success rate: 0.6571428571428571
+EP 36 success: False; Cumulative success rate: 0.6388888888888888
+EP 37 success: False; Cumulative success rate: 0.6216216216216216
+EP 38 success: False; Cumulative success rate: 0.6052631578947368
+EP 39 success: True; Cumulative success rate: 0.6153846153846154
+EP 40 success: True; Cumulative success rate: 0.625
+EP 41 success: True; Cumulative success rate: 0.6341463414634146
+EP 42 success: False; Cumulative success rate: 0.6190476190476191
+EP 43 success: True; Cumulative success rate: 0.627906976744186
+EP 44 success: False; Cumulative success rate: 0.6136363636363636
+EP 45 success: False; Cumulative success rate: 0.6
+EP 46 success: False; Cumulative success rate: 0.5869565217391305
+EP 47 success: True; Cumulative success rate: 0.5957446808510638
+EP 48 success: False; Cumulative success rate: 0.5833333333333334
+EP 49 success: False; Cumulative success rate: 0.5714285714285714
+EP 50 success: False; Cumulative success rate: 0.56
+Collecting 50 episodes took 636.07 seconds
+Results for robocasa/OpenElectricKettleLid:
+Success rate: 0.56
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: True; Cumulative success rate: 0.95
+EP 21 success: True; Cumulative success rate: 0.9523809523809523
+EP 22 success: True; Cumulative success rate: 0.9545454545454546
+EP 23 success: True; Cumulative success rate: 0.9565217391304348
+EP 24 success: True; Cumulative success rate: 0.9583333333333334
+EP 25 success: True; Cumulative success rate: 0.96
+EP 26 success: True; Cumulative success rate: 0.9615384615384616
+EP 27 success: True; Cumulative success rate: 0.9629629629629629
+EP 28 success: True; Cumulative success rate: 0.9642857142857143
+EP 29 success: True; Cumulative success rate: 0.9655172413793104
+EP 30 success: True; Cumulative success rate: 0.9666666666666667
+EP 31 success: True; Cumulative success rate: 0.967741935483871
+EP 32 success: True; Cumulative success rate: 0.96875
+EP 33 success: False; Cumulative success rate: 0.9393939393939394
+EP 34 success: True; Cumulative success rate: 0.9411764705882353
+EP 35 success: True; Cumulative success rate: 0.9428571428571428
+EP 36 success: True; Cumulative success rate: 0.9444444444444444
+EP 37 success: False; Cumulative success rate: 0.918918918918919
+EP 38 success: False; Cumulative success rate: 0.8947368421052632
+EP 39 success: True; Cumulative success rate: 0.8974358974358975
+EP 40 success: False; Cumulative success rate: 0.875
+EP 41 success: True; Cumulative success rate: 0.8780487804878049
+EP 42 success: True; Cumulative success rate: 0.8809523809523809
+EP 43 success: False; Cumulative success rate: 0.8604651162790697
+EP 44 success: True; Cumulative success rate: 0.8636363636363636
+EP 45 success: True; Cumulative success rate: 0.8666666666666667
+EP 46 success: True; Cumulative success rate: 0.8695652173913043
+EP 47 success: True; Cumulative success rate: 0.8723404255319149
+EP 48 success: True; Cumulative success rate: 0.875
+EP 49 success: True; Cumulative success rate: 0.8775510204081632
+EP 50 success: False; Cumulative success rate: 0.86
+Collecting 50 episodes took 867.42 seconds
+Results for robocasa/OpenStandMixerHead:
+Success rate: 0.86
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: False; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: True; Cumulative success rate: 0.4375
+EP 17 success: True; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: False; Cumulative success rate: 0.42105263157894735
+EP 20 success: True; Cumulative success rate: 0.45
+EP 21 success: True; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: False; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: True; Cumulative success rate: 0.44
+EP 26 success: True; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: True; Cumulative success rate: 0.5
+EP 29 success: False; Cumulative success rate: 0.4827586206896552
+EP 30 success: False; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: True; Cumulative success rate: 0.47058823529411764
+EP 35 success: False; Cumulative success rate: 0.45714285714285713
+EP 36 success: False; Cumulative success rate: 0.4444444444444444
+EP 37 success: True; Cumulative success rate: 0.4594594594594595
+EP 38 success: True; Cumulative success rate: 0.47368421052631576
+EP 39 success: False; Cumulative success rate: 0.46153846153846156
+EP 40 success: False; Cumulative success rate: 0.45
+EP 41 success: True; Cumulative success rate: 0.4634146341463415
+EP 42 success: False; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: False; Cumulative success rate: 0.4444444444444444
+EP 46 success: False; Cumulative success rate: 0.43478260869565216
+EP 47 success: False; Cumulative success rate: 0.425531914893617
+EP 48 success: True; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 1138.19 seconds
+Results for robocasa/PickPlaceCabinetToCounter:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet 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] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: True; Cumulative success rate: 0.5384615384615384
+EP 14 success: False; Cumulative success rate: 0.5
+EP 15 success: True; Cumulative success rate: 0.5333333333333333
+EP 16 success: False; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: True; Cumulative success rate: 0.5
+EP 19 success: True; Cumulative success rate: 0.5263157894736842
+EP 20 success: True; Cumulative success rate: 0.55
+EP 21 success: True; Cumulative success rate: 0.5714285714285714
+EP 22 success: True; Cumulative success rate: 0.5909090909090909
+EP 23 success: False; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: False; Cumulative success rate: 0.56
+EP 26 success: False; Cumulative success rate: 0.5384615384615384
+EP 27 success: True; Cumulative success rate: 0.5555555555555556
+EP 28 success: False; Cumulative success rate: 0.5357142857142857
+EP 29 success: False; Cumulative success rate: 0.5172413793103449
+EP 30 success: True; Cumulative success rate: 0.5333333333333333
+EP 31 success: True; Cumulative success rate: 0.5483870967741935
+EP 32 success: True; Cumulative success rate: 0.5625
+EP 33 success: True; Cumulative success rate: 0.5757575757575758
+EP 34 success: False; Cumulative success rate: 0.5588235294117647
+EP 35 success: True; Cumulative success rate: 0.5714285714285714
+EP 36 success: False; Cumulative success rate: 0.5555555555555556
+EP 37 success: False; Cumulative success rate: 0.5405405405405406
+EP 38 success: False; Cumulative success rate: 0.5263157894736842
+EP 39 success: False; Cumulative success rate: 0.5128205128205128
+EP 40 success: True; Cumulative success rate: 0.525
+EP 41 success: True; Cumulative success rate: 0.5365853658536586
+EP 42 success: True; Cumulative success rate: 0.5476190476190477
+EP 43 success: True; Cumulative success rate: 0.5581395348837209
+EP 44 success: True; Cumulative success rate: 0.5681818181818182
+EP 45 success: False; Cumulative success rate: 0.5555555555555556
+EP 46 success: True; Cumulative success rate: 0.5652173913043478
+EP 47 success: True; Cumulative success rate: 0.574468085106383
+EP 48 success: False; Cumulative success rate: 0.5625
+EP 49 success: True; Cumulative success rate: 0.5714285714285714
+EP 50 success: True; Cumulative success rate: 0.58
+Collecting 50 episodes took 1546.02 seconds
+Results for robocasa/PickPlaceCounterToCabinet:
+Success rate: 0.58
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: True; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: True; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: True; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: True; Cumulative success rate: 0.2222222222222222
+EP 19 success: True; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: False; Cumulative success rate: 0.23809523809523808
+EP 22 success: True; Cumulative success rate: 0.2727272727272727
+EP 23 success: False; Cumulative success rate: 0.2608695652173913
+EP 24 success: False; Cumulative success rate: 0.25
+EP 25 success: True; Cumulative success rate: 0.28
+EP 26 success: False; Cumulative success rate: 0.2692307692307692
+EP 27 success: True; Cumulative success rate: 0.2962962962962963
+EP 28 success: True; Cumulative success rate: 0.32142857142857145
+EP 29 success: False; Cumulative success rate: 0.3103448275862069
+EP 30 success: True; Cumulative success rate: 0.3333333333333333
+EP 31 success: True; Cumulative success rate: 0.3548387096774194
+EP 32 success: False; Cumulative success rate: 0.34375
+EP 33 success: False; Cumulative success rate: 0.3333333333333333
+EP 34 success: True; Cumulative success rate: 0.35294117647058826
+EP 35 success: True; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: True; Cumulative success rate: 0.358974358974359
+EP 40 success: True; Cumulative success rate: 0.375
+EP 41 success: True; Cumulative success rate: 0.3902439024390244
+EP 42 success: False; Cumulative success rate: 0.38095238095238093
+EP 43 success: False; Cumulative success rate: 0.37209302325581395
+EP 44 success: False; Cumulative success rate: 0.36363636363636365
+EP 45 success: True; Cumulative success rate: 0.37777777777777777
+EP 46 success: False; Cumulative success rate: 0.3695652173913043
+EP 47 success: True; Cumulative success rate: 0.3829787234042553
+EP 48 success: True; Cumulative success rate: 0.3958333333333333
+EP 49 success: False; Cumulative success rate: 0.3877551020408163
+EP 50 success: False; Cumulative success rate: 0.38
+Collecting 50 episodes took 1209.71 seconds
+Results for robocasa/PickPlaceCounterToStove:
+Success rate: 0.38
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter 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] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: True; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: True; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: True; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: False; Cumulative success rate: 0.19047619047619047
+EP 22 success: True; Cumulative success rate: 0.22727272727272727
+EP 23 success: False; Cumulative success rate: 0.21739130434782608
+EP 24 success: False; Cumulative success rate: 0.20833333333333334
+EP 25 success: False; Cumulative success rate: 0.2
+EP 26 success: False; Cumulative success rate: 0.19230769230769232
+EP 27 success: False; Cumulative success rate: 0.18518518518518517
+EP 28 success: False; Cumulative success rate: 0.17857142857142858
+EP 29 success: False; Cumulative success rate: 0.1724137931034483
+EP 30 success: True; Cumulative success rate: 0.2
+EP 31 success: True; Cumulative success rate: 0.22580645161290322
+EP 32 success: True; Cumulative success rate: 0.25
+EP 33 success: True; Cumulative success rate: 0.2727272727272727
+EP 34 success: False; Cumulative success rate: 0.2647058823529412
+EP 35 success: True; Cumulative success rate: 0.2857142857142857
+EP 36 success: False; Cumulative success rate: 0.2777777777777778
+EP 37 success: False; Cumulative success rate: 0.2702702702702703
+EP 38 success: True; Cumulative success rate: 0.2894736842105263
+EP 39 success: False; Cumulative success rate: 0.28205128205128205
+EP 40 success: False; Cumulative success rate: 0.275
+EP 41 success: False; Cumulative success rate: 0.2682926829268293
+EP 42 success: False; Cumulative success rate: 0.2619047619047619
+EP 43 success: True; Cumulative success rate: 0.27906976744186046
+EP 44 success: False; Cumulative success rate: 0.2727272727272727
+EP 45 success: True; Cumulative success rate: 0.28888888888888886
+EP 46 success: False; Cumulative success rate: 0.2826086956521739
+EP 47 success: False; Cumulative success rate: 0.2765957446808511
+EP 48 success: False; Cumulative success rate: 0.2708333333333333
+EP 49 success: True; Cumulative success rate: 0.2857142857142857
+EP 50 success: True; Cumulative success rate: 0.3
+Collecting 50 episodes took 1548.92 seconds
+Results for robocasa/PickPlaceDrawerToCounter:
+Success rate: 0.30
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: False; Cumulative success rate: 0.5833333333333334
+EP 13 success: True; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: False; Cumulative success rate: 0.6
+EP 16 success: True; Cumulative success rate: 0.625
+EP 17 success: False; Cumulative success rate: 0.5882352941176471
+EP 18 success: False; Cumulative success rate: 0.5555555555555556
+EP 19 success: True; Cumulative success rate: 0.5789473684210527
+EP 20 success: False; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: True; Cumulative success rate: 0.5416666666666666
+EP 25 success: True; Cumulative success rate: 0.56
+EP 26 success: False; Cumulative success rate: 0.5384615384615384
+EP 27 success: False; Cumulative success rate: 0.5185185185185185
+EP 28 success: True; Cumulative success rate: 0.5357142857142857
+EP 29 success: True; Cumulative success rate: 0.5517241379310345
+EP 30 success: True; Cumulative success rate: 0.5666666666666667
+EP 31 success: True; Cumulative success rate: 0.5806451612903226
+EP 32 success: True; Cumulative success rate: 0.59375
+EP 33 success: True; Cumulative success rate: 0.6060606060606061
+EP 34 success: True; Cumulative success rate: 0.6176470588235294
+EP 35 success: False; Cumulative success rate: 0.6
+EP 36 success: True; Cumulative success rate: 0.6111111111111112
+EP 37 success: False; Cumulative success rate: 0.5945945945945946
+EP 38 success: True; Cumulative success rate: 0.6052631578947368
+EP 39 success: True; Cumulative success rate: 0.6153846153846154
+EP 40 success: True; Cumulative success rate: 0.625
+EP 41 success: False; Cumulative success rate: 0.6097560975609756
+EP 42 success: True; Cumulative success rate: 0.6190476190476191
+EP 43 success: False; Cumulative success rate: 0.6046511627906976
+EP 44 success: False; Cumulative success rate: 0.5909090909090909
+EP 45 success: False; Cumulative success rate: 0.5777777777777777
+EP 46 success: False; Cumulative success rate: 0.5652173913043478
+EP 47 success: False; Cumulative success rate: 0.5531914893617021
+EP 48 success: False; Cumulative success rate: 0.5416666666666666
+EP 49 success: True; Cumulative success rate: 0.5510204081632653
+EP 50 success: True; Cumulative success rate: 0.56
+Collecting 50 episodes took 1855.83 seconds
+Results for robocasa/PickPlaceSinkToCounter:
+Success rate: 0.56
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: False; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: False; Cumulative success rate: 0.7727272727272727
+EP 23 success: False; Cumulative success rate: 0.7391304347826086
+EP 24 success: False; Cumulative success rate: 0.7083333333333334
+EP 25 success: True; Cumulative success rate: 0.72
+EP 26 success: True; Cumulative success rate: 0.7307692307692307
+EP 27 success: True; Cumulative success rate: 0.7407407407407407
+EP 28 success: False; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: False; Cumulative success rate: 0.7096774193548387
+EP 32 success: True; Cumulative success rate: 0.71875
+EP 33 success: True; Cumulative success rate: 0.7272727272727273
+EP 34 success: True; Cumulative success rate: 0.7352941176470589
+EP 35 success: False; Cumulative success rate: 0.7142857142857143
+EP 36 success: False; Cumulative success rate: 0.6944444444444444
+EP 37 success: True; Cumulative success rate: 0.7027027027027027
+EP 38 success: True; Cumulative success rate: 0.7105263157894737
+EP 39 success: True; Cumulative success rate: 0.717948717948718
+EP 40 success: True; Cumulative success rate: 0.725
+EP 41 success: True; Cumulative success rate: 0.7317073170731707
+EP 42 success: True; Cumulative success rate: 0.7380952380952381
+EP 43 success: True; Cumulative success rate: 0.7441860465116279
+EP 44 success: True; Cumulative success rate: 0.75
+EP 45 success: True; Cumulative success rate: 0.7555555555555555
+EP 46 success: True; Cumulative success rate: 0.7608695652173914
+EP 47 success: True; Cumulative success rate: 0.7659574468085106
+EP 48 success: True; Cumulative success rate: 0.7708333333333334
+EP 49 success: False; Cumulative success rate: 0.7551020408163265
+EP 50 success: True; Cumulative success rate: 0.76
+Collecting 50 episodes took 1165.69 seconds
+Results for robocasa/PickPlaceToasterToCounter:
+Success rate: 0.76
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: False; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: False; Cumulative success rate: 0.6842105263157895
+EP 20 success: False; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: False; Cumulative success rate: 0.6666666666666666
+EP 25 success: True; Cumulative success rate: 0.68
+EP 26 success: True; Cumulative success rate: 0.6923076923076923
+EP 27 success: True; Cumulative success rate: 0.7037037037037037
+EP 28 success: False; Cumulative success rate: 0.6785714285714286
+EP 29 success: True; Cumulative success rate: 0.6896551724137931
+EP 30 success: True; Cumulative success rate: 0.7
+EP 31 success: True; Cumulative success rate: 0.7096774193548387
+EP 32 success: False; 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: True; Cumulative success rate: 0.6857142857142857
+EP 36 success: True; Cumulative success rate: 0.6944444444444444
+EP 37 success: False; Cumulative success rate: 0.6756756756756757
+EP 38 success: True; Cumulative success rate: 0.6842105263157895
+EP 39 success: True; Cumulative success rate: 0.6923076923076923
+EP 40 success: False; Cumulative success rate: 0.675
+EP 41 success: True; Cumulative success rate: 0.6829268292682927
+EP 42 success: True; Cumulative success rate: 0.6904761904761905
+EP 43 success: False; Cumulative success rate: 0.6744186046511628
+EP 44 success: True; Cumulative success rate: 0.6818181818181818
+EP 45 success: True; Cumulative success rate: 0.6888888888888889
+EP 46 success: True; Cumulative success rate: 0.6956521739130435
+EP 47 success: False; Cumulative success rate: 0.6808510638297872
+EP 48 success: True; Cumulative success rate: 0.6875
+EP 49 success: True; Cumulative success rate: 0.6938775510204082
+EP 50 success: True; Cumulative success rate: 0.7
+Collecting 50 episodes took 307.29 seconds
+Results for robocasa/SlideDishwasherRack:
+Success rate: 0.70
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: True; Cumulative success rate: 0.2631578947368421
+EP 20 success: True; Cumulative success rate: 0.3
+EP 21 success: True; Cumulative success rate: 0.3333333333333333
+EP 22 success: False; Cumulative success rate: 0.3181818181818182
+EP 23 success: True; Cumulative success rate: 0.34782608695652173
+EP 24 success: False; Cumulative success rate: 0.3333333333333333
+EP 25 success: False; Cumulative success rate: 0.32
+EP 26 success: True; Cumulative success rate: 0.34615384615384615
+EP 27 success: False; Cumulative success rate: 0.3333333333333333
+EP 28 success: False; Cumulative success rate: 0.32142857142857145
+EP 29 success: True; Cumulative success rate: 0.3448275862068966
+EP 30 success: False; Cumulative success rate: 0.3333333333333333
+EP 31 success: False; Cumulative success rate: 0.3225806451612903
+EP 32 success: True; Cumulative success rate: 0.34375
+EP 33 success: False; Cumulative success rate: 0.3333333333333333
+EP 34 success: False; Cumulative success rate: 0.3235294117647059
+EP 35 success: False; Cumulative success rate: 0.3142857142857143
+EP 36 success: True; Cumulative success rate: 0.3333333333333333
+EP 37 success: False; Cumulative success rate: 0.32432432432432434
+EP 38 success: False; Cumulative success rate: 0.3157894736842105
+EP 39 success: False; Cumulative success rate: 0.3076923076923077
+EP 40 success: False; Cumulative success rate: 0.3
+EP 41 success: False; Cumulative success rate: 0.2926829268292683
+EP 42 success: False; Cumulative success rate: 0.2857142857142857
+EP 43 success: False; Cumulative success rate: 0.27906976744186046
+EP 44 success: False; Cumulative success rate: 0.2727272727272727
+EP 45 success: False; Cumulative success rate: 0.26666666666666666
+EP 46 success: False; Cumulative success rate: 0.2608695652173913
+EP 47 success: True; Cumulative success rate: 0.2765957446808511
+EP 48 success: False; Cumulative success rate: 0.2708333333333333
+EP 49 success: False; Cumulative success rate: 0.2653061224489796
+EP 50 success: True; Cumulative success rate: 0.28
+Collecting 50 episodes took 263.95 seconds
+Results for robocasa/TurnOffMicrowave:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet 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] No private macro file found! (macros.py:57)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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 TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+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: False; Cumulative success rate: 0.8888888888888888
+EP 19 success: True; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: True; Cumulative success rate: 0.9166666666666666
+EP 25 success: True; Cumulative success rate: 0.92
+EP 26 success: True; Cumulative success rate: 0.9230769230769231
+EP 27 success: 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: True; Cumulative success rate: 0.9090909090909091
+EP 34 success: True; Cumulative success rate: 0.9117647058823529
+EP 35 success: True; Cumulative success rate: 0.9142857142857143
+EP 36 success: True; Cumulative success rate: 0.9166666666666666
+EP 37 success: True; Cumulative success rate: 0.918918918918919
+EP 38 success: True; Cumulative success rate: 0.9210526315789473
+EP 39 success: True; Cumulative success rate: 0.9230769230769231
+EP 40 success: True; Cumulative success rate: 0.925
+EP 41 success: True; Cumulative success rate: 0.926829268292683
+EP 42 success: True; Cumulative success rate: 0.9285714285714286
+EP 43 success: True; Cumulative success rate: 0.9302325581395349
+EP 44 success: True; Cumulative success rate: 0.9318181818181818
+EP 45 success: True; Cumulative success rate: 0.9333333333333333
+EP 46 success: True; Cumulative success rate: 0.9347826086956522
+EP 47 success: True; Cumulative success rate: 0.9361702127659575
+EP 48 success: True; Cumulative success rate: 0.9375
+EP 49 success: False; Cumulative success rate: 0.9183673469387755
+EP 50 success: True; Cumulative success rate: 0.92
+Collecting 50 episodes took 372.29 seconds
+Results for robocasa/TurnOffSinkFaucet:
+Success rate: 0.92
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: True; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: True; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: True; Cumulative success rate: 0.2777777777777778
+EP 19 success: False; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: True; Cumulative success rate: 0.2857142857142857
+EP 22 success: True; Cumulative success rate: 0.3181818181818182
+EP 23 success: False; Cumulative success rate: 0.30434782608695654
+EP 24 success: True; Cumulative success rate: 0.3333333333333333
+EP 25 success: False; Cumulative success rate: 0.32
+EP 26 success: False; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: False; Cumulative success rate: 0.2857142857142857
+EP 29 success: True; Cumulative success rate: 0.3103448275862069
+EP 30 success: True; Cumulative success rate: 0.3333333333333333
+EP 31 success: False; Cumulative success rate: 0.3225806451612903
+EP 32 success: True; Cumulative success rate: 0.34375
+EP 33 success: True; Cumulative success rate: 0.36363636363636365
+EP 34 success: True; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: True; Cumulative success rate: 0.3783783783783784
+EP 38 success: False; Cumulative success rate: 0.3684210526315789
+EP 39 success: False; Cumulative success rate: 0.358974358974359
+EP 40 success: False; Cumulative success rate: 0.35
+EP 41 success: False; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: False; Cumulative success rate: 0.32558139534883723
+EP 44 success: False; Cumulative success rate: 0.3181818181818182
+EP 45 success: True; Cumulative success rate: 0.3333333333333333
+EP 46 success: False; Cumulative success rate: 0.32608695652173914
+EP 47 success: False; Cumulative success rate: 0.3191489361702128
+EP 48 success: False; Cumulative success rate: 0.3125
+EP 49 success: False; Cumulative success rate: 0.30612244897959184
+EP 50 success: False; Cumulative success rate: 0.3
+Collecting 50 episodes took 471.18 seconds
+Results for robocasa/TurnOffStove:
+Success rate: 0.30
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+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: True; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: True; Cumulative success rate: 0.6153846153846154
+EP 14 success: False; Cumulative success rate: 0.5714285714285714
+EP 15 success: True; Cumulative success rate: 0.6
+EP 16 success: False; Cumulative success rate: 0.5625
+EP 17 success: True; Cumulative success rate: 0.5882352941176471
+EP 18 success: True; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: False; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: True; Cumulative success rate: 0.6666666666666666
+EP 28 success: False; 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: True; Cumulative success rate: 0.7058823529411765
+EP 35 success: True; Cumulative success rate: 0.7142857142857143
+EP 36 success: True; Cumulative success rate: 0.7222222222222222
+EP 37 success: True; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: True; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: False; Cumulative success rate: 0.7380952380952381
+EP 43 success: True; Cumulative success rate: 0.7441860465116279
+EP 44 success: True; Cumulative success rate: 0.75
+EP 45 success: False; Cumulative success rate: 0.7333333333333333
+EP 46 success: True; Cumulative success rate: 0.7391304347826086
+EP 47 success: False; Cumulative success rate: 0.723404255319149
+EP 48 success: True; Cumulative success rate: 0.7291666666666666
+EP 49 success: False; Cumulative success rate: 0.7142857142857143
+EP 50 success: True; Cumulative success rate: 0.72
+Collecting 50 episodes took 308.89 seconds
+Results for robocasa/TurnOnElectricKettle:
+Success rate: 0.72
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: True; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: True; Cumulative success rate: 0.2727272727272727
+EP 12 success: 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: True; Cumulative success rate: 0.4
+EP 16 success: True; Cumulative success rate: 0.4375
+EP 17 success: False; Cumulative success rate: 0.4117647058823529
+EP 18 success: False; Cumulative success rate: 0.3888888888888889
+EP 19 success: False; Cumulative success rate: 0.3684210526315789
+EP 20 success: False; Cumulative success rate: 0.35
+EP 21 success: False; Cumulative success rate: 0.3333333333333333
+EP 22 success: False; Cumulative success rate: 0.3181818181818182
+EP 23 success: False; Cumulative success rate: 0.30434782608695654
+EP 24 success: False; Cumulative success rate: 0.2916666666666667
+EP 25 success: False; Cumulative success rate: 0.28
+EP 26 success: True; Cumulative success rate: 0.3076923076923077
+EP 27 success: True; 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: False; Cumulative success rate: 0.28125
+EP 33 success: False; Cumulative success rate: 0.2727272727272727
+EP 34 success: False; Cumulative success rate: 0.2647058823529412
+EP 35 success: False; Cumulative success rate: 0.2571428571428571
+EP 36 success: True; Cumulative success rate: 0.2777777777777778
+EP 37 success: 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: True; Cumulative success rate: 0.30952380952380953
+EP 43 success: False; Cumulative success rate: 0.3023255813953488
+EP 44 success: False; Cumulative success rate: 0.29545454545454547
+EP 45 success: False; Cumulative success rate: 0.28888888888888886
+EP 46 success: False; Cumulative success rate: 0.2826086956521739
+EP 47 success: False; Cumulative success rate: 0.2765957446808511
+EP 48 success: True; Cumulative success rate: 0.2916666666666667
+EP 49 success: False; Cumulative success rate: 0.2857142857142857
+EP 50 success: False; Cumulative success rate: 0.28
+Collecting 50 episodes took 380.56 seconds
+Results for robocasa/TurnOnMicrowave:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json
+
+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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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.")
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+Exception ignored in: <function MjRenderContext.__del__ at 0x7b02ad7b67a0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+Exception ignored in: <function MjRenderContext.__del__ at 0x7ddcad3ba7a0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnSinkFaucet with split=pretrain
+Exception ignored in: <function MjRenderContext.__del__ at 0x729ddedbe7a0>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-8 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 704, in _async_worker
+    observation, info = env.reset(**data)
+                        ^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset
+    return self.env.reset(seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 293, in reset
+    return env_reset_passive_checker(self.env, seed=seed, options=options)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py", line 185, in env_reset_passive_checker
+    result = env.reset(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 346, in reset
+    raw_obs = self.env.reset()
+              ^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset
+    self._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal
+    super()._reset_internal()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal
+    render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__
+    super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height)
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__
+    self._set_mujoco_context_and_buffers()
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers
+    self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd
+
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-3 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-5 - Shutting it down
+  self._raise_if_errors(successes)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Raising the last exception back to the main process.
+  self._raise_if_errors(successes)
+[robosuite 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)
+Exception ignored in: <function MjRenderContext.__del__ at 0x72ca7516e840>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/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)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Eval metadata
+- total_eval_time: 6h 35m 3s (23703.13s)
+- 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 3209 --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
+TurnOffSinkFaucet: 92 | None
+AdjustWaterTemperature: 52 | None
+TurnOffStove: 30 | None
+AdjustToasterOvenTemperature: 20 | None
+AVG: 51.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 23/26
+- expected episodes per task: 50
+- missing tasks:
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/summary.txt
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in <module>
+    run_post_eval_stats(
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats
+    raise RuntimeError("Eval output validation failed.")
+RuntimeError: Eval output validation failed.
+Exception ignored in: <function MjRenderContext.__del__ at 0x72ca7516e840>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/eval_resume_gpu2.log b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/eval_resume_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..be9dffffe65504b524285563dbf6f1c037ec3d7f
--- /dev/null
+++ b/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
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.94it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.44it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.36it/s]
+/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
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cd07d1c0b368bbd29e4e592d28868e10256ff1
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb5f40252e87ee3cf6155cef2eefb83cc133f9f
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdef758fa6347b21c68f825694da92b1232e4691
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..458fb974d3e8cd371d62316c196977f68e872f47
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..43dd768f70bf45703bf7ec33055e724be80aa4a5
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4293564d21a5eaa3f6795117efdf4839ea54fa
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d156665a0626304d3b122b77372ed54b5c80f9
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/resolved_config.yaml b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..165b67cfdfe504e43cc6952810afe7c4c0e3f18b
--- /dev/null
+++ b/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
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/rkd_retrain_best2_phase3_only.yaml b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/rkd_retrain_best2_phase3_only.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..486fd2354be830d6b9fe240ef6200ec4250862a0
--- /dev/null
+++ b/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
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/selected_eval_config.yaml b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/selected_eval_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..165b67cfdfe504e43cc6952810afe7c4c0e3f18b
--- /dev/null
+++ b/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
diff --git a/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/summary.txt b/retrain_best/retrain_best/rkd_seed44/rkd_temp_0.1/phase3/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8145cf0509731a813e0bd3a7bba6a2fa0382f55e
--- /dev/null
+++ b/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
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/eval.log b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..2abfc3c55f6fdeb2fa4f9c013afffa921495cad7
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/eval.log
@@ -0,0 +1,5480 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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_seed45/rkd_temp_0.1/phase3
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/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_seed45/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
+
Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
Loading checkpoint shards:  50%|█████     | 1/2 [00:01<00:01,  1.02s/it]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.21it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.17it/s]
+/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://0.0.0.0:3210
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite 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: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: True; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: True; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: False; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: False; Cumulative success rate: 0.14285714285714285
+EP 22 success: False; Cumulative success rate: 0.13636363636363635
+EP 23 success: False; Cumulative success rate: 0.13043478260869565
+EP 24 success: False; Cumulative success rate: 0.125
+EP 25 success: False; Cumulative success rate: 0.12
+EP 26 success: False; Cumulative success rate: 0.11538461538461539
+EP 27 success: True; Cumulative success rate: 0.14814814814814814
+EP 28 success: False; Cumulative success rate: 0.14285714285714285
+EP 29 success: False; Cumulative success rate: 0.13793103448275862
+EP 30 success: True; Cumulative success rate: 0.16666666666666666
+EP 31 success: False; Cumulative success rate: 0.16129032258064516
+EP 32 success: False; Cumulative success rate: 0.15625
+EP 33 success: False; Cumulative success rate: 0.15151515151515152
+EP 34 success: True; Cumulative success rate: 0.17647058823529413
+EP 35 success: False; Cumulative success rate: 0.17142857142857143
+EP 36 success: True; Cumulative success rate: 0.19444444444444445
+EP 37 success: True; Cumulative success rate: 0.21621621621621623
+EP 38 success: False; Cumulative success rate: 0.21052631578947367
+EP 39 success: True; Cumulative success rate: 0.23076923076923078
+EP 40 success: False; Cumulative success rate: 0.225
+EP 41 success: False; Cumulative success rate: 0.21951219512195122
+EP 42 success: False; Cumulative success rate: 0.21428571428571427
+EP 43 success: False; Cumulative success rate: 0.20930232558139536
+EP 44 success: False; Cumulative success rate: 0.20454545454545456
+EP 45 success: False; Cumulative success rate: 0.2
+EP 46 success: True; Cumulative success rate: 0.21739130434782608
+EP 47 success: True; Cumulative success rate: 0.23404255319148937
+EP 48 success: False; Cumulative success rate: 0.22916666666666666
+EP 49 success: False; Cumulative success rate: 0.22448979591836735
+EP 50 success: False; Cumulative success rate: 0.22
+Collecting 50 episodes took 850.70 seconds
+Results for robocasa/AdjustToasterOvenTemperature:
+Success rate: 0.22
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: False; Cumulative success rate: 0.5833333333333334
+EP 13 success: True; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: False; Cumulative success rate: 0.6
+EP 16 success: True; Cumulative success rate: 0.625
+EP 17 success: True; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: False; Cumulative success rate: 0.631578947368421
+EP 20 success: False; Cumulative success rate: 0.6
+EP 21 success: True; Cumulative success rate: 0.6190476190476191
+EP 22 success: False; Cumulative success rate: 0.5909090909090909
+EP 23 success: True; Cumulative success rate: 0.6086956521739131
+EP 24 success: True; Cumulative success rate: 0.625
+EP 25 success: False; Cumulative success rate: 0.6
+EP 26 success: False; Cumulative success rate: 0.5769230769230769
+EP 27 success: True; Cumulative success rate: 0.5925925925925926
+EP 28 success: False; Cumulative success rate: 0.5714285714285714
+EP 29 success: False; Cumulative success rate: 0.5517241379310345
+EP 30 success: False; Cumulative success rate: 0.5333333333333333
+EP 31 success: True; Cumulative success rate: 0.5483870967741935
+EP 32 success: False; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: True; Cumulative success rate: 0.5294117647058824
+EP 35 success: True; Cumulative success rate: 0.5428571428571428
+EP 36 success: True; Cumulative success rate: 0.5555555555555556
+EP 37 success: False; Cumulative success rate: 0.5405405405405406
+EP 38 success: False; Cumulative success rate: 0.5263157894736842
+EP 39 success: True; Cumulative success rate: 0.5384615384615384
+EP 40 success: True; Cumulative success rate: 0.55
+EP 41 success: False; Cumulative success rate: 0.5365853658536586
+EP 42 success: False; Cumulative success rate: 0.5238095238095238
+EP 43 success: False; Cumulative success rate: 0.5116279069767442
+EP 44 success: False; Cumulative success rate: 0.5
+EP 45 success: True; Cumulative success rate: 0.5111111111111111
+EP 46 success: False; Cumulative success rate: 0.5
+EP 47 success: False; Cumulative success rate: 0.48936170212765956
+EP 48 success: True; Cumulative success rate: 0.5
+EP 49 success: False; Cumulative success rate: 0.4897959183673469
+EP 50 success: False; Cumulative success rate: 0.48
+Collecting 50 episodes took 814.31 seconds
+Results for robocasa/AdjustWaterTemperature:
+Success rate: 0.48
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: False; Cumulative success rate: 0.0
+EP 8 success: False; Cumulative success rate: 0.0
+EP 9 success: False; Cumulative success rate: 0.0
+EP 10 success: False; Cumulative success rate: 0.0
+EP 11 success: False; Cumulative success rate: 0.0
+EP 12 success: False; Cumulative success rate: 0.0
+EP 13 success: False; Cumulative success rate: 0.0
+EP 14 success: False; Cumulative success rate: 0.0
+EP 15 success: False; Cumulative success rate: 0.0
+EP 16 success: False; Cumulative success rate: 0.0
+EP 17 success: False; Cumulative success rate: 0.0
+EP 18 success: False; Cumulative success rate: 0.0
+EP 19 success: False; Cumulative success rate: 0.0
+EP 20 success: False; Cumulative success rate: 0.0
+EP 21 success: False; Cumulative success rate: 0.0
+EP 22 success: True; Cumulative success rate: 0.045454545454545456
+EP 23 success: False; Cumulative success rate: 0.043478260869565216
+EP 24 success: False; Cumulative success rate: 0.041666666666666664
+EP 25 success: False; Cumulative success rate: 0.04
+EP 26 success: True; Cumulative success rate: 0.07692307692307693
+EP 27 success: False; Cumulative success rate: 0.07407407407407407
+EP 28 success: False; Cumulative success rate: 0.07142857142857142
+EP 29 success: True; Cumulative success rate: 0.10344827586206896
+EP 30 success: False; Cumulative success rate: 0.1
+EP 31 success: False; Cumulative success rate: 0.0967741935483871
+EP 32 success: True; Cumulative success rate: 0.125
+EP 33 success: False; Cumulative success rate: 0.12121212121212122
+EP 34 success: False; Cumulative success rate: 0.11764705882352941
+EP 35 success: False; Cumulative success rate: 0.11428571428571428
+EP 36 success: True; Cumulative success rate: 0.1388888888888889
+EP 37 success: True; Cumulative success rate: 0.16216216216216217
+EP 38 success: False; Cumulative success rate: 0.15789473684210525
+EP 39 success: False; Cumulative success rate: 0.15384615384615385
+EP 40 success: False; Cumulative success rate: 0.15
+EP 41 success: False; Cumulative success rate: 0.14634146341463414
+EP 42 success: False; Cumulative success rate: 0.14285714285714285
+EP 43 success: False; Cumulative success rate: 0.13953488372093023
+EP 44 success: False; Cumulative success rate: 0.13636363636363635
+EP 45 success: False; Cumulative success rate: 0.13333333333333333
+EP 46 success: False; Cumulative success rate: 0.13043478260869565
+EP 47 success: False; Cumulative success rate: 0.1276595744680851
+EP 48 success: False; Cumulative success rate: 0.125
+EP 49 success: False; Cumulative success rate: 0.12244897959183673
+EP 50 success: False; Cumulative success rate: 0.12
+Collecting 50 episodes took 1462.45 seconds
+Results for robocasa/CloseBlenderLid:
+Success rate: 0.12
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: False; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: False; Cumulative success rate: 0.875
+EP 25 success: True; Cumulative success rate: 0.88
+EP 26 success: True; Cumulative success rate: 0.8846153846153846
+EP 27 success: False; Cumulative success rate: 0.8518518518518519
+EP 28 success: True; Cumulative success rate: 0.8571428571428571
+EP 29 success: True; Cumulative success rate: 0.8620689655172413
+EP 30 success: True; Cumulative success rate: 0.8666666666666667
+EP 31 success: True; Cumulative success rate: 0.8709677419354839
+EP 32 success: True; Cumulative success rate: 0.875
+EP 33 success: False; Cumulative success rate: 0.8484848484848485
+EP 34 success: True; Cumulative success rate: 0.8529411764705882
+EP 35 success: True; Cumulative success rate: 0.8571428571428571
+EP 36 success: False; Cumulative success rate: 0.8333333333333334
+EP 37 success: True; Cumulative success rate: 0.8378378378378378
+EP 38 success: True; Cumulative success rate: 0.8421052631578947
+EP 39 success: True; Cumulative success rate: 0.8461538461538461
+EP 40 success: True; Cumulative success rate: 0.85
+EP 41 success: True; Cumulative success rate: 0.8536585365853658
+EP 42 success: True; Cumulative success rate: 0.8571428571428571
+EP 43 success: True; Cumulative success rate: 0.8604651162790697
+EP 44 success: False; Cumulative success rate: 0.8409090909090909
+EP 45 success: True; Cumulative success rate: 0.8444444444444444
+EP 46 success: False; Cumulative success rate: 0.8260869565217391
+EP 47 success: True; Cumulative success rate: 0.8297872340425532
+EP 48 success: True; Cumulative success rate: 0.8333333333333334
+EP 49 success: False; Cumulative success rate: 0.8163265306122449
+EP 50 success: True; Cumulative success rate: 0.82
+Collecting 50 episodes took 1742.53 seconds
+Results for robocasa/CloseFridge:
+Success rate: 0.82
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: False; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: False; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: True; Cumulative success rate: 0.6666666666666666
+EP 19 success: False; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: True; Cumulative success rate: 0.7083333333333334
+EP 25 success: True; Cumulative success rate: 0.72
+EP 26 success: True; Cumulative success rate: 0.7307692307692307
+EP 27 success: False; Cumulative success rate: 0.7037037037037037
+EP 28 success: False; Cumulative success rate: 0.6785714285714286
+EP 29 success: True; Cumulative success rate: 0.6896551724137931
+EP 30 success: False; Cumulative success rate: 0.6666666666666666
+EP 31 success: False; Cumulative success rate: 0.6451612903225806
+EP 32 success: True; Cumulative success rate: 0.65625
+EP 33 success: True; Cumulative success rate: 0.6666666666666666
+EP 34 success: True; Cumulative success rate: 0.6764705882352942
+EP 35 success: True; Cumulative success rate: 0.6857142857142857
+EP 36 success: True; Cumulative success rate: 0.6944444444444444
+EP 37 success: True; Cumulative success rate: 0.7027027027027027
+EP 38 success: False; 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: False; Cumulative success rate: 0.6829268292682927
+EP 42 success: False; Cumulative success rate: 0.6666666666666666
+EP 43 success: True; Cumulative success rate: 0.6744186046511628
+EP 44 success: False; Cumulative success rate: 0.6590909090909091
+EP 45 success: True; Cumulative success rate: 0.6666666666666666
+EP 46 success: False; Cumulative success rate: 0.6521739130434783
+EP 47 success: True; Cumulative success rate: 0.6595744680851063
+EP 48 success: True; Cumulative success rate: 0.6666666666666666
+EP 49 success: True; Cumulative success rate: 0.673469387755102
+EP 50 success: True; Cumulative success rate: 0.68
+Collecting 50 episodes took 836.27 seconds
+Results for robocasa/CloseToasterOvenDoor:
+Success rate: 0.68
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: True; Cumulative success rate: 0.5
+EP 9 success: True; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: False; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: True; Cumulative success rate: 0.5
+EP 15 success: True; Cumulative success rate: 0.5333333333333333
+EP 16 success: True; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: False; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: False; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: False; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: False; Cumulative success rate: 0.3793103448275862
+EP 30 success: False; Cumulative success rate: 0.36666666666666664
+EP 31 success: True; Cumulative success rate: 0.3870967741935484
+EP 32 success: True; Cumulative success rate: 0.40625
+EP 33 success: True; Cumulative success rate: 0.42424242424242425
+EP 34 success: False; Cumulative success rate: 0.4117647058823529
+EP 35 success: True; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: True; Cumulative success rate: 0.43243243243243246
+EP 38 success: False; Cumulative success rate: 0.42105263157894735
+EP 39 success: False; Cumulative success rate: 0.41025641025641024
+EP 40 success: False; Cumulative success rate: 0.4
+EP 41 success: True; Cumulative success rate: 0.4146341463414634
+EP 42 success: True; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: True; Cumulative success rate: 0.4222222222222222
+EP 46 success: False; Cumulative success rate: 0.41304347826086957
+EP 47 success: True; Cumulative success rate: 0.425531914893617
+EP 48 success: True; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: True; Cumulative success rate: 0.46
+Collecting 50 episodes took 1116.13 seconds
+Results for robocasa/CoffeeSetupMug:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: False; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: True; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: False; Cumulative success rate: 0.6
+EP 16 success: False; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: True; Cumulative success rate: 0.5789473684210527
+EP 20 success: False; Cumulative success rate: 0.55
+EP 21 success: False; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: True; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: True; Cumulative success rate: 0.52
+EP 26 success: False; Cumulative success rate: 0.5
+EP 27 success: False; Cumulative success rate: 0.48148148148148145
+EP 28 success: True; Cumulative success rate: 0.5
+EP 29 success: True; Cumulative success rate: 0.5172413793103449
+EP 30 success: False; Cumulative success rate: 0.5
+EP 31 success: True; Cumulative success rate: 0.5161290322580645
+EP 32 success: True; Cumulative success rate: 0.53125
+EP 33 success: False; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: False; Cumulative success rate: 0.4857142857142857
+EP 36 success: False; Cumulative success rate: 0.4722222222222222
+EP 37 success: False; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: True; Cumulative success rate: 0.46153846153846156
+EP 40 success: False; Cumulative success rate: 0.45
+EP 41 success: True; Cumulative success rate: 0.4634146341463415
+EP 42 success: False; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: False; Cumulative success rate: 0.4444444444444444
+EP 46 success: True; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 919.69 seconds
+Results for robocasa/NavigateKitchen:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: False; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: False; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: True; Cumulative success rate: 0.7368421052631579
+EP 20 success: True; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: False; Cumulative success rate: 0.7272727272727273
+EP 23 success: False; Cumulative success rate: 0.6956521739130435
+EP 24 success: True; Cumulative success rate: 0.7083333333333334
+EP 25 success: False; Cumulative success rate: 0.68
+EP 26 success: True; Cumulative success rate: 0.6923076923076923
+EP 27 success: False; Cumulative success rate: 0.6666666666666666
+EP 28 success: True; Cumulative success rate: 0.6785714285714286
+EP 29 success: True; Cumulative success rate: 0.6896551724137931
+EP 30 success: False; Cumulative success rate: 0.6666666666666666
+EP 31 success: False; Cumulative success rate: 0.6451612903225806
+EP 32 success: True; Cumulative success rate: 0.65625
+EP 33 success: False; Cumulative success rate: 0.6363636363636364
+EP 34 success: False; Cumulative success rate: 0.6176470588235294
+EP 35 success: False; Cumulative success rate: 0.6
+EP 36 success: True; Cumulative success rate: 0.6111111111111112
+EP 37 success: False; Cumulative success rate: 0.5945945945945946
+EP 38 success: True; Cumulative success rate: 0.6052631578947368
+EP 39 success: True; Cumulative success rate: 0.6153846153846154
+EP 40 success: False; Cumulative success rate: 0.6
+EP 41 success: False; Cumulative success rate: 0.5853658536585366
+EP 42 success: True; Cumulative success rate: 0.5952380952380952
+EP 43 success: False; Cumulative success rate: 0.5813953488372093
+EP 44 success: False; Cumulative success rate: 0.5681818181818182
+EP 45 success: True; Cumulative success rate: 0.5777777777777777
+EP 46 success: True; Cumulative success rate: 0.5869565217391305
+EP 47 success: True; Cumulative success rate: 0.5957446808510638
+EP 48 success: True; Cumulative success rate: 0.6041666666666666
+EP 49 success: False; Cumulative success rate: 0.5918367346938775
+EP 50 success: True; Cumulative success rate: 0.6
+Collecting 50 episodes took 1940.65 seconds
+Results for robocasa/OpenCabinet:
+Success rate: 0.60
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: False; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: True; Cumulative success rate: 0.5833333333333334
+EP 13 success: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: False; Cumulative success rate: 0.5
+EP 15 success: False; Cumulative success rate: 0.4666666666666667
+EP 16 success: False; Cumulative success rate: 0.4375
+EP 17 success: False; Cumulative success rate: 0.4117647058823529
+EP 18 success: True; Cumulative success rate: 0.4444444444444444
+EP 19 success: True; Cumulative success rate: 0.47368421052631576
+EP 20 success: False; Cumulative success rate: 0.45
+EP 21 success: False; Cumulative success rate: 0.42857142857142855
+EP 22 success: False; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: True; Cumulative success rate: 0.4230769230769231
+EP 27 success: True; Cumulative success rate: 0.4444444444444444
+EP 28 success: True; Cumulative success rate: 0.4642857142857143
+EP 29 success: True; Cumulative success rate: 0.4827586206896552
+EP 30 success: True; Cumulative success rate: 0.5
+EP 31 success: False; Cumulative success rate: 0.4838709677419355
+EP 32 success: True; Cumulative success rate: 0.5
+EP 33 success: False; Cumulative success rate: 0.48484848484848486
+EP 34 success: True; Cumulative success rate: 0.5
+EP 35 success: True; Cumulative success rate: 0.5142857142857142
+EP 36 success: False; Cumulative success rate: 0.5
+EP 37 success: True; Cumulative success rate: 0.5135135135135135
+EP 38 success: True; Cumulative success rate: 0.5263157894736842
+EP 39 success: False; Cumulative success rate: 0.5128205128205128
+EP 40 success: False; Cumulative success rate: 0.5
+EP 41 success: True; Cumulative success rate: 0.5121951219512195
+EP 42 success: True; Cumulative success rate: 0.5238095238095238
+EP 43 success: False; Cumulative success rate: 0.5116279069767442
+EP 44 success: False; Cumulative success rate: 0.5
+EP 45 success: True; Cumulative success rate: 0.5111111111111111
+EP 46 success: False; Cumulative success rate: 0.5
+EP 47 success: False; Cumulative success rate: 0.48936170212765956
+EP 48 success: True; Cumulative success rate: 0.5
+EP 49 success: False; Cumulative success rate: 0.4897959183673469
+EP 50 success: True; Cumulative success rate: 0.5
+Collecting 50 episodes took 1526.94 seconds
+Results for robocasa/OpenDrawer:
+Success rate: 0.50
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: False; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: True; Cumulative success rate: 0.7272727272727273
+EP 12 success: False; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: True; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: 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: False; Cumulative success rate: 0.5454545454545454
+EP 23 success: True; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: False; Cumulative success rate: 0.56
+EP 26 success: True; Cumulative success rate: 0.5769230769230769
+EP 27 success: True; Cumulative success rate: 0.5925925925925926
+EP 28 success: True; Cumulative success rate: 0.6071428571428571
+EP 29 success: True; Cumulative success rate: 0.6206896551724138
+EP 30 success: False; Cumulative success rate: 0.6
+EP 31 success: True; Cumulative success rate: 0.6129032258064516
+EP 32 success: True; Cumulative success rate: 0.625
+EP 33 success: True; Cumulative success rate: 0.6363636363636364
+EP 34 success: True; Cumulative success rate: 0.6470588235294118
+EP 35 success: True; Cumulative success rate: 0.6571428571428571
+EP 36 success: True; Cumulative success rate: 0.6666666666666666
+EP 37 success: False; Cumulative success rate: 0.6486486486486487
+EP 38 success: False; Cumulative success rate: 0.631578947368421
+EP 39 success: True; Cumulative success rate: 0.6410256410256411
+EP 40 success: True; Cumulative success rate: 0.65
+EP 41 success: True; Cumulative success rate: 0.6585365853658537
+EP 42 success: False; Cumulative success rate: 0.6428571428571429
+EP 43 success: True; Cumulative success rate: 0.6511627906976745
+EP 44 success: False; Cumulative success rate: 0.6363636363636364
+EP 45 success: False; Cumulative success rate: 0.6222222222222222
+EP 46 success: False; Cumulative success rate: 0.6086956521739131
+EP 47 success: True; Cumulative success rate: 0.6170212765957447
+EP 48 success: False; Cumulative success rate: 0.6041666666666666
+EP 49 success: False; Cumulative success rate: 0.5918367346938775
+EP 50 success: True; Cumulative success rate: 0.6
+Collecting 50 episodes took 660.44 seconds
+Results for robocasa/OpenElectricKettleLid:
+Success rate: 0.60
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead 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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), 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 OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: False; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: True; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: True; Cumulative success rate: 0.9166666666666666
+EP 25 success: True; Cumulative success rate: 0.92
+EP 26 success: True; Cumulative success rate: 0.9230769230769231
+EP 27 success: 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: False; Cumulative success rate: 0.868421052631579
+EP 39 success: True; Cumulative success rate: 0.8717948717948718
+EP 40 success: False; Cumulative success rate: 0.85
+EP 41 success: True; Cumulative success rate: 0.8536585365853658
+EP 42 success: True; Cumulative success rate: 0.8571428571428571
+EP 43 success: True; Cumulative success rate: 0.8604651162790697
+EP 44 success: True; Cumulative success rate: 0.8636363636363636
+EP 45 success: True; Cumulative success rate: 0.8666666666666667
+EP 46 success: True; Cumulative success rate: 0.8695652173913043
+EP 47 success: True; Cumulative success rate: 0.8723404255319149
+EP 48 success: True; Cumulative success rate: 0.875
+EP 49 success: True; Cumulative success rate: 0.8775510204081632
+EP 50 success: True; Cumulative success rate: 0.88
+Collecting 50 episodes took 928.30 seconds
+Results for robocasa/OpenStandMixerHead:
+Success rate: 0.88
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: True; Cumulative success rate: 0.5
+EP 11 success: True; Cumulative success rate: 0.5454545454545454
+EP 12 success: False; Cumulative success rate: 0.5
+EP 13 success: False; Cumulative success rate: 0.46153846153846156
+EP 14 success: False; Cumulative success rate: 0.42857142857142855
+EP 15 success: True; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: True; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: False; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: False; Cumulative success rate: 0.47619047619047616
+EP 22 success: False; Cumulative success rate: 0.45454545454545453
+EP 23 success: True; Cumulative success rate: 0.4782608695652174
+EP 24 success: False; Cumulative success rate: 0.4583333333333333
+EP 25 success: False; Cumulative success rate: 0.44
+EP 26 success: True; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: True; Cumulative success rate: 0.5
+EP 29 success: False; Cumulative success rate: 0.4827586206896552
+EP 30 success: False; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; Cumulative success rate: 0.45161290322580644
+EP 32 success: True; Cumulative success rate: 0.46875
+EP 33 success: False; Cumulative success rate: 0.45454545454545453
+EP 34 success: True; Cumulative success rate: 0.47058823529411764
+EP 35 success: False; Cumulative success rate: 0.45714285714285713
+EP 36 success: False; Cumulative success rate: 0.4444444444444444
+EP 37 success: True; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: False; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: True; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: False; Cumulative success rate: 0.4444444444444444
+EP 46 success: False; Cumulative success rate: 0.43478260869565216
+EP 47 success: False; Cumulative success rate: 0.425531914893617
+EP 48 success: True; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: True; Cumulative success rate: 0.46
+Collecting 50 episodes took 1202.74 seconds
+Results for robocasa/PickPlaceCabinetToCounter:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet 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] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: True; Cumulative success rate: 0.3076923076923077
+EP 14 success: False; Cumulative success rate: 0.2857142857142857
+EP 15 success: True; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: False; Cumulative success rate: 0.29411764705882354
+EP 18 success: False; Cumulative success rate: 0.2777777777777778
+EP 19 success: True; Cumulative success rate: 0.3157894736842105
+EP 20 success: True; Cumulative success rate: 0.35
+EP 21 success: True; Cumulative success rate: 0.38095238095238093
+EP 22 success: True; Cumulative success rate: 0.4090909090909091
+EP 23 success: False; Cumulative success rate: 0.391304347826087
+EP 24 success: True; Cumulative success rate: 0.4166666666666667
+EP 25 success: True; Cumulative success rate: 0.44
+EP 26 success: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: True; Cumulative success rate: 0.4444444444444444
+EP 28 success: True; Cumulative success rate: 0.4642857142857143
+EP 29 success: True; Cumulative success rate: 0.4827586206896552
+EP 30 success: True; Cumulative success rate: 0.5
+EP 31 success: False; Cumulative success rate: 0.4838709677419355
+EP 32 success: True; Cumulative success rate: 0.5
+EP 33 success: True; Cumulative success rate: 0.5151515151515151
+EP 34 success: False; Cumulative success rate: 0.5
+EP 35 success: False; Cumulative success rate: 0.4857142857142857
+EP 36 success: True; Cumulative success rate: 0.5
+EP 37 success: False; Cumulative success rate: 0.4864864864864865
+EP 38 success: False; Cumulative success rate: 0.47368421052631576
+EP 39 success: False; Cumulative success rate: 0.46153846153846156
+EP 40 success: True; Cumulative success rate: 0.475
+EP 41 success: False; Cumulative success rate: 0.4634146341463415
+EP 42 success: True; Cumulative success rate: 0.47619047619047616
+EP 43 success: True; Cumulative success rate: 0.4883720930232558
+EP 44 success: True; Cumulative success rate: 0.5
+EP 45 success: False; Cumulative success rate: 0.4888888888888889
+EP 46 success: True; Cumulative success rate: 0.5
+EP 47 success: True; Cumulative success rate: 0.5106382978723404
+EP 48 success: False; Cumulative success rate: 0.5
+EP 49 success: True; Cumulative success rate: 0.5102040816326531
+EP 50 success: False; Cumulative success rate: 0.5
+Collecting 50 episodes took 1619.39 seconds
+Results for robocasa/PickPlaceCounterToCabinet:
+Success rate: 0.50
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite 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 PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: False; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: False; Cumulative success rate: 0.3076923076923077
+EP 14 success: False; Cumulative success rate: 0.2857142857142857
+EP 15 success: True; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: False; Cumulative success rate: 0.29411764705882354
+EP 18 success: False; Cumulative success rate: 0.2777777777777778
+EP 19 success: True; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: False; Cumulative success rate: 0.2857142857142857
+EP 22 success: True; Cumulative success rate: 0.3181818181818182
+EP 23 success: True; Cumulative success rate: 0.34782608695652173
+EP 24 success: False; Cumulative success rate: 0.3333333333333333
+EP 25 success: True; Cumulative success rate: 0.36
+EP 26 success: True; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: True; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: True; Cumulative success rate: 0.43333333333333335
+EP 31 success: True; Cumulative success rate: 0.45161290322580644
+EP 32 success: False; Cumulative success rate: 0.4375
+EP 33 success: False; Cumulative success rate: 0.42424242424242425
+EP 34 success: False; Cumulative success rate: 0.4117647058823529
+EP 35 success: False; Cumulative success rate: 0.4
+EP 36 success: False; Cumulative success rate: 0.3888888888888889
+EP 37 success: False; Cumulative success rate: 0.3783783783783784
+EP 38 success: False; Cumulative success rate: 0.3684210526315789
+EP 39 success: True; Cumulative success rate: 0.38461538461538464
+EP 40 success: True; Cumulative success rate: 0.4
+EP 41 success: True; Cumulative success rate: 0.4146341463414634
+EP 42 success: True; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: True; Cumulative success rate: 0.4222222222222222
+EP 46 success: True; Cumulative success rate: 0.43478260869565216
+EP 47 success: False; Cumulative success rate: 0.425531914893617
+EP 48 success: True; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 1218.95 seconds
+Results for robocasa/PickPlaceCounterToStove:
+Success rate: 0.44
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: True; Cumulative success rate: 0.2727272727272727
+EP 12 success: True; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: True; Cumulative success rate: 0.375
+EP 17 success: True; Cumulative success rate: 0.4117647058823529
+EP 18 success: False; Cumulative success rate: 0.3888888888888889
+EP 19 success: False; Cumulative success rate: 0.3684210526315789
+EP 20 success: False; Cumulative success rate: 0.35
+EP 21 success: False; Cumulative success rate: 0.3333333333333333
+EP 22 success: True; Cumulative success rate: 0.36363636363636365
+EP 23 success: True; Cumulative success rate: 0.391304347826087
+EP 24 success: True; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: True; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: True; Cumulative success rate: 0.41935483870967744
+EP 32 success: False; Cumulative success rate: 0.40625
+EP 33 success: False; Cumulative success rate: 0.3939393939393939
+EP 34 success: True; Cumulative success rate: 0.4117647058823529
+EP 35 success: False; Cumulative success rate: 0.4
+EP 36 success: False; Cumulative success rate: 0.3888888888888889
+EP 37 success: False; Cumulative success rate: 0.3783783783783784
+EP 38 success: True; Cumulative success rate: 0.39473684210526316
+EP 39 success: False; Cumulative success rate: 0.38461538461538464
+EP 40 success: True; Cumulative success rate: 0.4
+EP 41 success: False; Cumulative success rate: 0.3902439024390244
+EP 42 success: False; Cumulative success rate: 0.38095238095238093
+EP 43 success: True; Cumulative success rate: 0.3953488372093023
+EP 44 success: False; Cumulative success rate: 0.38636363636363635
+EP 45 success: True; Cumulative success rate: 0.4
+EP 46 success: False; Cumulative success rate: 0.391304347826087
+EP 47 success: False; Cumulative success rate: 0.3829787234042553
+EP 48 success: False; Cumulative success rate: 0.375
+EP 49 success: True; Cumulative success rate: 0.3877551020408163
+EP 50 success: False; Cumulative success rate: 0.38
+Collecting 50 episodes took 1575.74 seconds
+Results for robocasa/PickPlaceDrawerToCounter:
+Success rate: 0.38
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter 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 import robosuite_models. Some robots may not be available. If you want to use these robots, 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: 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: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: False; Cumulative success rate: 0.6666666666666666
+EP 19 success: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: True; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: False; Cumulative success rate: 0.6818181818181818
+EP 23 success: False; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: True; Cumulative success rate: 0.68
+EP 26 success: False; Cumulative success rate: 0.6538461538461539
+EP 27 success: True; Cumulative success rate: 0.6666666666666666
+EP 28 success: False; Cumulative success rate: 0.6428571428571429
+EP 29 success: True; Cumulative success rate: 0.6551724137931034
+EP 30 success: True; Cumulative success rate: 0.6666666666666666
+EP 31 success: True; Cumulative success rate: 0.6774193548387096
+EP 32 success: False; Cumulative success rate: 0.65625
+EP 33 success: True; Cumulative success rate: 0.6666666666666666
+EP 34 success: True; Cumulative success rate: 0.6764705882352942
+EP 35 success: True; Cumulative success rate: 0.6857142857142857
+EP 36 success: True; Cumulative success rate: 0.6944444444444444
+EP 37 success: False; Cumulative success rate: 0.6756756756756757
+EP 38 success: True; Cumulative success rate: 0.6842105263157895
+EP 39 success: False; Cumulative success rate: 0.6666666666666666
+EP 40 success: False; Cumulative success rate: 0.65
+EP 41 success: True; Cumulative success rate: 0.6585365853658537
+EP 42 success: False; Cumulative success rate: 0.6428571428571429
+EP 43 success: False; Cumulative success rate: 0.627906976744186
+EP 44 success: True; Cumulative success rate: 0.6363636363636364
+EP 45 success: False; Cumulative success rate: 0.6222222222222222
+EP 46 success: False; Cumulative success rate: 0.6086956521739131
+EP 47 success: False; Cumulative success rate: 0.5957446808510638
+EP 48 success: True; Cumulative success rate: 0.6041666666666666
+EP 49 success: True; Cumulative success rate: 0.6122448979591837
+EP 50 success: True; Cumulative success rate: 0.62
+Collecting 50 episodes took 1788.50 seconds
+Results for robocasa/PickPlaceSinkToCounter:
+Success rate: 0.62
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: False; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: False; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: False; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: False; Cumulative success rate: 0.7368421052631579
+EP 20 success: True; Cumulative success rate: 0.75
+EP 21 success: False; Cumulative success rate: 0.7142857142857143
+EP 22 success: False; Cumulative success rate: 0.6818181818181818
+EP 23 success: False; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: True; Cumulative success rate: 0.6666666666666666
+EP 28 success: True; Cumulative success rate: 0.6785714285714286
+EP 29 success: True; Cumulative success rate: 0.6896551724137931
+EP 30 success: False; Cumulative success rate: 0.6666666666666666
+EP 31 success: 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: True; Cumulative success rate: 0.7058823529411765
+EP 35 success: False; Cumulative success rate: 0.6857142857142857
+EP 36 success: False; 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: False; Cumulative success rate: 0.6904761904761905
+EP 43 success: True; Cumulative success rate: 0.6976744186046512
+EP 44 success: True; Cumulative success rate: 0.7045454545454546
+EP 45 success: True; Cumulative success rate: 0.7111111111111111
+EP 46 success: True; Cumulative success rate: 0.717391304347826
+EP 47 success: True; Cumulative success rate: 0.723404255319149
+EP 48 success: True; Cumulative success rate: 0.7291666666666666
+EP 49 success: True; Cumulative success rate: 0.7346938775510204
+EP 50 success: True; Cumulative success rate: 0.74
+Collecting 50 episodes took 1204.68 seconds
+Results for robocasa/PickPlaceToasterToCounter:
+Success rate: 0.74
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: False; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: True; Cumulative success rate: 0.7368421052631579
+EP 20 success: False; Cumulative success rate: 0.7
+EP 21 success: True; Cumulative success rate: 0.7142857142857143
+EP 22 success: True; Cumulative success rate: 0.7272727272727273
+EP 23 success: True; Cumulative success rate: 0.7391304347826086
+EP 24 success: False; Cumulative success rate: 0.7083333333333334
+EP 25 success: False; Cumulative success rate: 0.68
+EP 26 success: True; Cumulative success rate: 0.6923076923076923
+EP 27 success: True; Cumulative success rate: 0.7037037037037037
+EP 28 success: True; Cumulative success rate: 0.7142857142857143
+EP 29 success: True; Cumulative success rate: 0.7241379310344828
+EP 30 success: True; Cumulative success rate: 0.7333333333333333
+EP 31 success: True; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: True; Cumulative success rate: 0.7647058823529411
+EP 35 success: True; Cumulative success rate: 0.7714285714285715
+EP 36 success: True; Cumulative success rate: 0.7777777777777778
+EP 37 success: False; Cumulative success rate: 0.7567567567567568
+EP 38 success: True; Cumulative success rate: 0.7631578947368421
+EP 39 success: True; Cumulative success rate: 0.7692307692307693
+EP 40 success: False; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: True; Cumulative success rate: 0.7619047619047619
+EP 43 success: False; Cumulative success rate: 0.7441860465116279
+EP 44 success: True; Cumulative success rate: 0.75
+EP 45 success: False; Cumulative success rate: 0.7333333333333333
+EP 46 success: True; Cumulative success rate: 0.7391304347826086
+EP 47 success: True; Cumulative success rate: 0.7446808510638298
+EP 48 success: True; Cumulative success rate: 0.75
+EP 49 success: True; Cumulative success rate: 0.7551020408163265
+EP 50 success: True; Cumulative success rate: 0.76
+Collecting 50 episodes took 364.79 seconds
+Results for robocasa/SlideDishwasherRack:
+Success rate: 0.76
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave 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] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: True; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: True; Cumulative success rate: 0.2631578947368421
+EP 20 success: False; Cumulative success rate: 0.25
+EP 21 success: True; Cumulative success rate: 0.2857142857142857
+EP 22 success: False; Cumulative success rate: 0.2727272727272727
+EP 23 success: True; Cumulative success rate: 0.30434782608695654
+EP 24 success: True; Cumulative success rate: 0.3333333333333333
+EP 25 success: False; Cumulative success rate: 0.32
+EP 26 success: True; Cumulative success rate: 0.34615384615384615
+EP 27 success: False; Cumulative success rate: 0.3333333333333333
+EP 28 success: False; Cumulative success rate: 0.32142857142857145
+EP 29 success: True; Cumulative success rate: 0.3448275862068966
+EP 30 success: False; Cumulative success rate: 0.3333333333333333
+EP 31 success: False; Cumulative success rate: 0.3225806451612903
+EP 32 success: True; Cumulative success rate: 0.34375
+EP 33 success: True; Cumulative success rate: 0.36363636363636365
+EP 34 success: False; Cumulative success rate: 0.35294117647058826
+EP 35 success: False; Cumulative success rate: 0.34285714285714286
+EP 36 success: True; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: True; Cumulative success rate: 0.3684210526315789
+EP 39 success: False; Cumulative success rate: 0.358974358974359
+EP 40 success: False; Cumulative success rate: 0.35
+EP 41 success: False; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: True; Cumulative success rate: 0.3488372093023256
+EP 44 success: False; Cumulative success rate: 0.3409090909090909
+EP 45 success: False; Cumulative success rate: 0.3333333333333333
+EP 46 success: False; Cumulative success rate: 0.32608695652173914
+EP 47 success: True; Cumulative success rate: 0.3404255319148936
+EP 48 success: True; Cumulative success rate: 0.3541666666666667
+EP 49 success: False; Cumulative success rate: 0.3469387755102041
+EP 50 success: False; Cumulative success rate: 0.34
+Collecting 50 episodes took 296.73 seconds
+Results for robocasa/TurnOffMicrowave:
+Success rate: 0.34
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: False; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: False; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: True; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: False; Cumulative success rate: 0.7777777777777778
+EP 28 success: True; Cumulative success rate: 0.7857142857142857
+EP 29 success: True; Cumulative success rate: 0.7931034482758621
+EP 30 success: False; Cumulative success rate: 0.7666666666666667
+EP 31 success: True; Cumulative success rate: 0.7741935483870968
+EP 32 success: True; Cumulative success rate: 0.78125
+EP 33 success: True; Cumulative success rate: 0.7878787878787878
+EP 34 success: True; Cumulative success rate: 0.7941176470588235
+EP 35 success: True; Cumulative success rate: 0.8
+EP 36 success: True; Cumulative success rate: 0.8055555555555556
+EP 37 success: True; Cumulative success rate: 0.8108108108108109
+EP 38 success: True; Cumulative success rate: 0.8157894736842105
+EP 39 success: True; Cumulative success rate: 0.8205128205128205
+EP 40 success: True; Cumulative success rate: 0.825
+EP 41 success: True; Cumulative success rate: 0.8292682926829268
+EP 42 success: True; Cumulative success rate: 0.8333333333333334
+EP 43 success: True; Cumulative success rate: 0.8372093023255814
+EP 44 success: True; Cumulative success rate: 0.8409090909090909
+EP 45 success: False; Cumulative success rate: 0.8222222222222222
+EP 46 success: True; Cumulative success rate: 0.8260869565217391
+EP 47 success: True; Cumulative success rate: 0.8297872340425532
+EP 48 success: False; Cumulative success rate: 0.8125
+EP 49 success: True; Cumulative success rate: 0.8163265306122449
+EP 50 success: True; Cumulative success rate: 0.82
+Collecting 50 episodes took 403.63 seconds
+Results for robocasa/TurnOffSinkFaucet:
+Success rate: 0.82
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: True; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: True; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: False; Cumulative success rate: 0.1875
+EP 17 success: False; Cumulative success rate: 0.17647058823529413
+EP 18 success: True; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: False; Cumulative success rate: 0.2
+EP 21 success: True; Cumulative success rate: 0.23809523809523808
+EP 22 success: False; Cumulative success rate: 0.22727272727272727
+EP 23 success: False; Cumulative success rate: 0.21739130434782608
+EP 24 success: True; Cumulative success rate: 0.25
+EP 25 success: False; Cumulative success rate: 0.24
+EP 26 success: False; Cumulative success rate: 0.23076923076923078
+EP 27 success: False; Cumulative success rate: 0.2222222222222222
+EP 28 success: False; Cumulative success rate: 0.21428571428571427
+EP 29 success: False; Cumulative success rate: 0.20689655172413793
+EP 30 success: True; Cumulative success rate: 0.23333333333333334
+EP 31 success: False; Cumulative success rate: 0.22580645161290322
+EP 32 success: False; Cumulative success rate: 0.21875
+EP 33 success: False; Cumulative success rate: 0.21212121212121213
+EP 34 success: False; Cumulative success rate: 0.20588235294117646
+EP 35 success: True; Cumulative success rate: 0.22857142857142856
+EP 36 success: False; Cumulative success rate: 0.2222222222222222
+EP 37 success: True; Cumulative success rate: 0.24324324324324326
+EP 38 success: False; Cumulative success rate: 0.23684210526315788
+EP 39 success: False; Cumulative success rate: 0.23076923076923078
+EP 40 success: False; Cumulative success rate: 0.225
+EP 41 success: False; Cumulative success rate: 0.21951219512195122
+EP 42 success: False; Cumulative success rate: 0.21428571428571427
+EP 43 success: False; Cumulative success rate: 0.20930232558139536
+EP 44 success: False; Cumulative success rate: 0.20454545454545456
+EP 45 success: True; Cumulative success rate: 0.2222222222222222
+EP 46 success: True; Cumulative success rate: 0.2391304347826087
+EP 47 success: False; Cumulative success rate: 0.23404255319148937
+EP 48 success: False; Cumulative success rate: 0.22916666666666666
+EP 49 success: False; Cumulative success rate: 0.22448979591836735
+EP 50 success: False; Cumulative success rate: 0.22
+Collecting 50 episodes took 575.63 seconds
+Results for robocasa/TurnOffStove:
+Success rate: 0.22
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: False; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: False; Cumulative success rate: 0.6428571428571429
+EP 15 success: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: True; Cumulative success rate: 0.6875
+EP 17 success: True; Cumulative success rate: 0.7058823529411765
+EP 18 success: True; Cumulative success rate: 0.7222222222222222
+EP 19 success: True; Cumulative success rate: 0.7368421052631579
+EP 20 success: False; Cumulative success rate: 0.7
+EP 21 success: False; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: True; Cumulative success rate: 0.6956521739130435
+EP 24 success: False; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: True; Cumulative success rate: 0.6666666666666666
+EP 28 success: False; 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: True; Cumulative success rate: 0.7058823529411765
+EP 35 success: True; Cumulative success rate: 0.7142857142857143
+EP 36 success: False; Cumulative success rate: 0.6944444444444444
+EP 37 success: True; Cumulative success rate: 0.7027027027027027
+EP 38 success: True; Cumulative success rate: 0.7105263157894737
+EP 39 success: False; Cumulative success rate: 0.6923076923076923
+EP 40 success: False; Cumulative success rate: 0.675
+EP 41 success: True; Cumulative success rate: 0.6829268292682927
+EP 42 success: True; Cumulative success rate: 0.6904761904761905
+EP 43 success: True; Cumulative success rate: 0.6976744186046512
+EP 44 success: True; Cumulative success rate: 0.7045454545454546
+EP 45 success: True; Cumulative success rate: 0.7111111111111111
+EP 46 success: True; Cumulative success rate: 0.717391304347826
+EP 47 success: True; Cumulative success rate: 0.723404255319149
+EP 48 success: True; Cumulative success rate: 0.7291666666666666
+EP 49 success: False; Cumulative success rate: 0.7142857142857143
+EP 50 success: True; Cumulative success rate: 0.72
+Collecting 50 episodes took 375.11 seconds
+Results for robocasa/TurnOnElectricKettle:
+Success rate: 0.72
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave 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 load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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 `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: 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 TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: True; Cumulative success rate: 0.2727272727272727
+EP 12 success: True; Cumulative success rate: 0.3333333333333333
+EP 13 success: False; Cumulative success rate: 0.3076923076923077
+EP 14 success: True; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: True; Cumulative success rate: 0.35294117647058826
+EP 18 success: False; Cumulative success rate: 0.3333333333333333
+EP 19 success: False; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: False; Cumulative success rate: 0.2857142857142857
+EP 22 success: False; Cumulative success rate: 0.2727272727272727
+EP 23 success: False; Cumulative success rate: 0.2608695652173913
+EP 24 success: True; Cumulative success rate: 0.2916666666666667
+EP 25 success: False; Cumulative success rate: 0.28
+EP 26 success: True; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: False; Cumulative success rate: 0.2857142857142857
+EP 29 success: False; Cumulative success rate: 0.27586206896551724
+EP 30 success: False; Cumulative success rate: 0.26666666666666666
+EP 31 success: False; Cumulative success rate: 0.25806451612903225
+EP 32 success: False; Cumulative success rate: 0.25
+EP 33 success: False; Cumulative success rate: 0.24242424242424243
+EP 34 success: False; Cumulative success rate: 0.23529411764705882
+EP 35 success: True; Cumulative success rate: 0.2571428571428571
+EP 36 success: True; 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: True; Cumulative success rate: 0.3170731707317073
+EP 42 success: True; Cumulative success rate: 0.3333333333333333
+EP 43 success: False; Cumulative success rate: 0.32558139534883723
+EP 44 success: False; Cumulative success rate: 0.3181818181818182
+EP 45 success: True; Cumulative success rate: 0.3333333333333333
+EP 46 success: False; Cumulative success rate: 0.32608695652173914
+EP 47 success: True; Cumulative success rate: 0.3404255319148936
+EP 48 success: True; Cumulative success rate: 0.3541666666666667
+EP 49 success: False; Cumulative success rate: 0.3469387755102041
+EP 50 success: True; Cumulative success rate: 0.36
+Collecting 50 episodes took 556.50 seconds
+Results for robocasa/TurnOnMicrowave:
+Success rate: 0.36
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json
+
+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: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: True; 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: True; Cumulative success rate: 0.42857142857142855
+EP 15 success: True; Cumulative success rate: 0.4666666666666667
+EP 16 success: False; Cumulative success rate: 0.4375
+EP 17 success: True; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: True; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: True; Cumulative success rate: 0.5416666666666666
+EP 25 success: True; Cumulative success rate: 0.56
+EP 26 success: True; Cumulative success rate: 0.5769230769230769
+EP 27 success: True; Cumulative success rate: 0.5925925925925926
+EP 28 success: True; Cumulative success rate: 0.6071428571428571
+EP 29 success: True; Cumulative success rate: 0.6206896551724138
+EP 30 success: True; Cumulative success rate: 0.6333333333333333
+EP 31 success: True; Cumulative success rate: 0.6451612903225806
+EP 32 success: True; Cumulative success rate: 0.65625
+EP 33 success: True; Cumulative success rate: 0.6666666666666666
+EP 34 success: True; 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: False; Cumulative success rate: 0.6578947368421053
+EP 39 success: True; Cumulative success rate: 0.6666666666666666
+EP 40 success: False; Cumulative success rate: 0.65
+EP 41 success: True; Cumulative success rate: 0.6585365853658537
+EP 42 success: True; Cumulative success rate: 0.6666666666666666
+EP 43 success: True; Cumulative success rate: 0.6744186046511628
+EP 44 success: True; Cumulative success rate: 0.6818181818181818
+EP 45 success: True; Cumulative success rate: 0.6888888888888889
+EP 46 success: True; Cumulative success rate: 0.6956521739130435
+EP 47 success: False; Cumulative success rate: 0.6808510638297872
+EP 48 success: False; Cumulative success rate: 0.6666666666666666
+EP 49 success: True; Cumulative success rate: 0.673469387755102
+EP 50 success: False; Cumulative success rate: 0.66
+Collecting 50 episodes took 938.21 seconds
+Results for robocasa/TurnOnSinkFaucet:
+Success rate: 0.66
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/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] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py: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 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: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: False; Cumulative success rate: 0.08333333333333333
+EP 13 success: False; Cumulative success rate: 0.07692307692307693
+EP 14 success: False; Cumulative success rate: 0.07142857142857142
+EP 15 success: False; Cumulative success rate: 0.06666666666666667
+EP 16 success: False; Cumulative success rate: 0.0625
+EP 17 success: True; Cumulative success rate: 0.11764705882352941
+EP 18 success: True; Cumulative success rate: 0.16666666666666666
+EP 19 success: False; Cumulative success rate: 0.15789473684210525
+EP 20 success: False; Cumulative success rate: 0.15
+EP 21 success: True; Cumulative success rate: 0.19047619047619047
+EP 22 success: False; Cumulative success rate: 0.18181818181818182
+EP 23 success: True; Cumulative success rate: 0.21739130434782608
+EP 24 success: False; Cumulative success rate: 0.20833333333333334
+EP 25 success: True; Cumulative success rate: 0.24
+EP 26 success: False; Cumulative success rate: 0.23076923076923078
+EP 27 success: False; Cumulative success rate: 0.2222222222222222
+EP 28 success: False; Cumulative success rate: 0.21428571428571427
+EP 29 success: False; Cumulative success rate: 0.20689655172413793
+EP 30 success: False; Cumulative success rate: 0.2
+EP 31 success: True; Cumulative success rate: 0.22580645161290322
+EP 32 success: True; Cumulative success rate: 0.25
+EP 33 success: False; Cumulative success rate: 0.24242424242424243
+EP 34 success: False; Cumulative success rate: 0.23529411764705882
+EP 35 success: False; Cumulative success rate: 0.22857142857142856
+EP 36 success: False; Cumulative success rate: 0.2222222222222222
+EP 37 success: False; Cumulative success rate: 0.21621621621621623
+EP 38 success: False; Cumulative success rate: 0.21052631578947367
+EP 39 success: False; Cumulative success rate: 0.20512820512820512
+EP 40 success: True; Cumulative success rate: 0.225
+EP 41 success: False; Cumulative success rate: 0.21951219512195122
+EP 42 success: False; Cumulative success rate: 0.21428571428571427
+EP 43 success: False; Cumulative success rate: 0.20930232558139536
+EP 44 success: True; Cumulative success rate: 0.22727272727272727
+EP 45 success: False; Cumulative success rate: 0.2222222222222222
+EP 46 success: True; Cumulative success rate: 0.2391304347826087
+EP 47 success: True; Cumulative success rate: 0.2553191489361702
+EP 48 success: False; Cumulative success rate: 0.25
+EP 49 success: True; Cumulative success rate: 0.2653061224489796
+EP 50 success: True; Cumulative success rate: 0.28
+Collecting 50 episodes took 841.17 seconds
+Results for robocasa/TurnOnStove:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/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: True; Cumulative success rate: 0.95
+EP 21 success: True; Cumulative success rate: 0.9523809523809523
+EP 22 success: True; Cumulative success rate: 0.9545454545454546
+EP 23 success: True; Cumulative success rate: 0.9565217391304348
+EP 24 success: True; Cumulative success rate: 0.9583333333333334
+EP 25 success: True; Cumulative success rate: 0.96
+EP 26 success: True; Cumulative success rate: 0.9615384615384616
+EP 27 success: True; Cumulative success rate: 0.9629629629629629
+EP 28 success: True; Cumulative success rate: 0.9642857142857143
+EP 29 success: True; Cumulative success rate: 0.9655172413793104
+EP 30 success: True; Cumulative success rate: 0.9666666666666667
+EP 31 success: False; Cumulative success rate: 0.9354838709677419
+EP 32 success: True; Cumulative success rate: 0.9375
+EP 33 success: True; Cumulative success rate: 0.9393939393939394
+EP 34 success: True; Cumulative success rate: 0.9411764705882353
+EP 35 success: True; Cumulative success rate: 0.9428571428571428
+EP 36 success: True; Cumulative success rate: 0.9444444444444444
+EP 37 success: True; Cumulative success rate: 0.9459459459459459
+EP 38 success: True; Cumulative success rate: 0.9473684210526315
+EP 39 success: True; Cumulative success rate: 0.9487179487179487
+EP 40 success: True; Cumulative success rate: 0.95
+EP 41 success: True; Cumulative success rate: 0.9512195121951219
+EP 42 success: True; Cumulative success rate: 0.9523809523809523
+EP 43 success: True; Cumulative success rate: 0.9534883720930233
+EP 44 success: True; Cumulative success rate: 0.9545454545454546
+EP 45 success: True; Cumulative success rate: 0.9555555555555556
+EP 46 success: True; Cumulative success rate: 0.9565217391304348
+EP 47 success: False; Cumulative success rate: 0.9361702127659575
+EP 48 success: True; Cumulative success rate: 0.9375
+EP 49 success: True; Cumulative success rate: 0.9387755102040817
+EP 50 success: True; Cumulative success rate: 0.94
+Collecting 50 episodes took 833.98 seconds
+Results for robocasa/TurnSinkSpout:
+Success rate: 0.94
+saved stats to /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json
+
+Eval metadata
+- total_eval_time: 7h 23m 34s (26614.31s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1
+- video_dir: /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/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_seed45/rkd_temp_0.1/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 3210 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/resolved_config.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/rkd_retrain_best3.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/rkd_retrain_best3.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 12 | None
+CloseFridge: 82 | None
+CloseToasterOvenDoor: 68 | None
+CoffeeSetupMug: 46 | None
+NavigateKitchen: 44 | None
+OpenCabinet: 60 | None
+OpenDrawer: 50 | None
+OpenStandMixerHead: 88 | None
+PickPlaceCounterToCabinet: 50 | None
+PickPlaceCounterToStove: 44 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 62 | None
+PickPlaceToasterToCounter: 74 | None
+PickPlaceCabinetToCounter: 46 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 36 | None
+TurnOffMicrowave: 34 | None
+OpenElectricKettleLid: 60 | None
+SlideDishwasherRack: 76 | None
+TurnOnSinkFaucet: 66 | None
+TurnSinkSpout: 94 | None
+TurnOffSinkFaucet: 82 | None
+AdjustWaterTemperature: 48 | None
+TurnOffStove: 22 | None
+TurnOnStove: 28 | None
+AdjustToasterOvenTemperature: 22 | None
+AVG: 54.0 | 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_seed45/rkd_temp_0.1/phase3/summary.txt
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..934943d613a8ea24b53bc7d318535a8ba6098c48
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b53abff8b682d1bd470bd415c4c8f3d9d8585d0
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4293564d21a5eaa3f6795117efdf4839ea54fa
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.76
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.82
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.36
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.66
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2da3e2ae5f4745c4b5ac46af6e02aa9a54c7aa4
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json
@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.94
+}
\ No newline at end of file
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/resolved_config.yaml b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..30a7ec435067564ccf2237d116633d6690f54431
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/resolved_config.yaml
@@ -0,0 +1,48 @@
+experiment_name: rkd_phase2_phase3_aux_fixed_0p5_retrain_seed45
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45
+sweep:
+  rkd_temp:
+  - 0.1
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 45
+model: null
+phases:
+- name: phase2_rkd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: 0.1
+    rkd_vlm_temp: 0.1
+    rkd_relation_mode: token_pair_mean
+- 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
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/rkd_retrain_best3.yaml b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/rkd_retrain_best3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a72b488ce5fc6aaf7d46cca63ce79f5fb134ecb0
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/rkd_retrain_best3.yaml
@@ -0,0 +1,46 @@
+experiment_name: rkd_phase2_phase3_aux_fixed_0p5_retrain_seed45
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45
+sweep:
+  rkd_temp:
+  - 0.1
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 45
+model: null
+phases:
+- name: phase2_rkd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: ${sweep.rkd_temp}
+    rkd_vlm_temp: ${sweep.rkd_temp}
+    rkd_relation_mode: token_pair_mean
+- name: phase3_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
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/selected_eval_config.yaml b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/selected_eval_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..30a7ec435067564ccf2237d116633d6690f54431
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/selected_eval_config.yaml
@@ -0,0 +1,48 @@
+experiment_name: rkd_phase2_phase3_aux_fixed_0p5_retrain_seed45
+policy_type: groot_rkd
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45
+sweep:
+  rkd_temp:
+  - 0.1
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 45
+model: null
+phases:
+- name: phase2_rkd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_action_temp: 0.1
+    rkd_vlm_temp: 0.1
+    rkd_relation_mode: token_pair_mean
+- 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
diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/summary.txt b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c726a2b3d9b9b316a46bcfe2592670abacca1b8
--- /dev/null
+++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/summary.txt
@@ -0,0 +1,56 @@
+Eval metadata
+- total_eval_time: 7h 23m 34s (26614.31s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1
+- video_dir: /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/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_seed45/rkd_temp_0.1/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 3210 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/resolved_config.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/rkd_retrain_best3.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/retrain_best/rkd_seed45/rkd_temp_0.1/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/rkd_retrain_best3.yaml
+  - /home/seonho/groot_robocasa/Experiments/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 12 | None
+CloseFridge: 82 | None
+CloseToasterOvenDoor: 68 | None
+CoffeeSetupMug: 46 | None
+NavigateKitchen: 44 | None
+OpenCabinet: 60 | None
+OpenDrawer: 50 | None
+OpenStandMixerHead: 88 | None
+PickPlaceCounterToCabinet: 50 | None
+PickPlaceCounterToStove: 44 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 62 | None
+PickPlaceToasterToCounter: 74 | None
+PickPlaceCabinetToCounter: 46 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 36 | None
+TurnOffMicrowave: 34 | None
+OpenElectricKettleLid: 60 | None
+SlideDishwasherRack: 76 | None
+TurnOnSinkFaucet: 66 | None
+TurnSinkSpout: 94 | None
+TurnOffSinkFaucet: 82 | None
+AdjustWaterTemperature: 48 | None
+TurnOffStove: 22 | None
+TurnOnStove: 28 | None
+AdjustToasterOvenTemperature: 22 | None
+AVG: 54.0 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED