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Atomic26_baseline_v2/checkpoint-80000/eval_20260621_221604.log

@@ -0,0 +1,527 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000
+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
+
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:4580
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for AdjustToasterOvenTemperature...
+Running 50 episodes for robocasa/AdjustToasterOvenTemperature with 10 environments
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+Error in server: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/service.py", line 115, in run
+    handler.handler(request.get("data", {}))
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 181, in get_action
+    normalized_action = self._get_action_from_normalized_input(normalized_input)
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/policy.py", line 191, in _get_action_from_normalized_input
+    model_pred = self.model.get_action(normalized_input)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 175, in get_action
+    backbone_inputs, action_inputs = self.prepare_input(inputs)
+                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 196, in prepare_input
+    action_inputs = tree.map_structure(to_device_with_maybe_dtype, action_inputs)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in map_structure
+    [func(*args) for args in zip(*map(flatten, structures))])
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/tree/__init__.py", line 435, in <listcomp>
+    [func(*args) for args in zip(*map(flatten, structures))])
+     ^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/model/gr00t_n1.py", line 190, in to_device_with_maybe_dtype
+    return x.to(self.device, dtype=self.action_head.dtype)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+
+Exception! Server error: CUDA out of memory. Tried to allocate 20.00 MiB. GPU 0 has a total capacity of 79.25 GiB of which 0 bytes is free. Process 763225 has 58.81 GiB memory in use. Including non-PyTorch memory, this process has 5.58 GiB memory in use. Of the allocated memory 5.10 GiB is allocated by PyTorch, and 76.19 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'
+Exception! Offscreen framebuffer is not complete, error 0x8cdd
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice.
+  return _methods._mean(a, axis=axis, dtype=dtype,
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 5m 20s (319.90s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000
+- checkpoint_name: checkpoint-80000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-80000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-80000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4580 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 0/26
+- expected episodes per task: 50
+- missing tasks:
+  - AdjustToasterOvenTemperature
+  - AdjustWaterTemperature
+  - CloseBlenderLid
+  - CloseFridge
+  - CloseToasterOvenDoor
+  - CoffeeSetupMug
+  - NavigateKitchen
+  - OpenCabinet
+  - OpenDrawer
+  - OpenElectricKettleLid
+  - OpenStandMixerHead
+  - PickPlaceCabinetToCounter
+  - PickPlaceCounterToCabinet
+  - PickPlaceCounterToStove
+  - PickPlaceDrawerToCounter
+  - PickPlaceSinkToCounter
+  - PickPlaceToasterToCounter
+  - SlideDishwasherRack
+  - TurnOffMicrowave
+  - TurnOffSinkFaucet
+  - TurnOffStove
+  - TurnOnElectricKettle
+  - TurnOnMicrowave
+  - TurnOnSinkFaucet
+  - TurnOnStove
+  - TurnSinkSpout
+CHECK FAILED
+saved eval stats report to /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-80000/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 0x7fd917562520>
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__
+    self.con.free()
+    ^^^^^^^^
+AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con'

Atomic26_baseline_v2/checkpoint-80000/eval_20260622_101037_gpu0.pid

@@ -0,0 +1 @@
+4054399

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CloseBlenderLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.16
+}

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/CloseToasterOvenDoor/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/NavigateKitchen/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/OpenCabinet/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/OpenDrawer/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/OpenElectricKettleLid/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceCabinetToCounter/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceCounterToCabinet/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceSinkToCounter/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/PickPlaceToasterToCounter/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnElectricKettle/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnOnMicrowave/stats.json

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

Atomic26_baseline_v2/checkpoint-80000/evals/pretrain/TurnSinkSpout/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.96
+}

Atomic26_baseline_v2/checkpoint-80000/summary.txt

@@ -0,0 +1,50 @@
+Eval metadata
+- total_eval_time: 1h 26m 37s (5196.81s)
+- model_path: /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000
+- checkpoint_name: checkpoint-80000
+- checkpoint_parent: /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- video_dir: /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-80000
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/Atomic26_baseline_v2/checkpoint-80000 --video_dir /home/seonho/groot_robocasa/Experiments/Atomic26_baseline_v2/checkpoint-80000 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4531 --seed 42
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/Atomic26_baseline_v2
+- selected_config_yaml: none
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 16 | None
+CloseFridge: 84 | None
+CloseToasterOvenDoor: 72 | None
+CoffeeSetupMug: 44 | None
+NavigateKitchen: 38 | None
+OpenCabinet: 36 | None
+OpenDrawer: 42 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 50 | None
+PickPlaceCounterToStove: 54 | None
+PickPlaceDrawerToCounter: 36 | None
+PickPlaceSinkToCounter: 70 | None
+PickPlaceToasterToCounter: 78 | None
+PickPlaceCabinetToCounter: 46 | None
+TurnOnElectricKettle: 72 | None
+TurnOnMicrowave: 36 | None
+TurnOffMicrowave: 24 | None
+OpenElectricKettleLid: 54 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 66 | None
+TurnSinkSpout: 96 | None
+TurnOffSinkFaucet: 84 | None
+AdjustWaterTemperature: 42 | None
+TurnOffStove: 22 | None
+TurnOnStove: 36 | None
+AdjustToasterOvenTemperature: 16 | None
+AVG: 52.8 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

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

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

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.04
+}

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.68
+}

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.62
+}

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

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

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.68
+}

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.92
+}

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.8
+}

RKD_Processing_line_Only/rkd_temp_0.05/summary.txt

@@ -0,0 +1,35 @@
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 4 | None
+CloseFridge: 88 | None
+CloseToasterOvenDoor: 68 | None
+CoffeeSetupMug: 40 | None
+NavigateKitchen: 42 | None
+OpenCabinet: 54 | None
+OpenDrawer: 42 | None
+OpenStandMixerHead: 86 | None
+PickPlaceCounterToCabinet: 40 | None
+PickPlaceCounterToStove: 52 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 46 | None
+PickPlaceToasterToCounter: 78 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 76 | None
+TurnOnMicrowave: 32 | None
+TurnOffMicrowave: 28 | None
+OpenElectricKettleLid: 62 | None
+SlideDishwasherRack: 68 | None
+TurnOnSinkFaucet: 66 | None
+TurnSinkSpout: 80 | None
+TurnOffSinkFaucet: 92 | None
+AdjustWaterTemperature: 36 | None
+TurnOffStove: 34 | None
+TurnOnStove: 34 | None
+AdjustToasterOvenTemperature: 22 | None
+AVG: 52.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

RKD_Processing_line_Only/rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json

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

RKD_Processing_line_Only/rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json

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

RKD_Processing_line_Only/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.02
+}

RKD_Processing_line_Only/rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json

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

RKD_Processing_line_Only/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json

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