diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/logs/seed42_my_atomic26_nenv10.log b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/logs/seed42_my_atomic26_nenv10.log
new file mode 100644
index 0000000000000000000000000000000000000000..da62bda67005d5db05432b883cc41fb5acb46c2c
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/logs/seed42_my_atomic26_nenv10.log	
@@ -0,0 +1,5535 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3
+Loading pretrained dual brain from /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/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/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/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,  1.78it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.52it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:01<00:00,  1.55it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/ext_minje/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://0.0.0.0:4936
+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/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/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/ext_minje/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/ext_minje/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/ext_minje/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/ext_minje/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/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: 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: True; 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: False; Cumulative success rate: 0.14814814814814814
+EP 28 success: False; Cumulative success rate: 0.14285714285714285
+EP 29 success: True; Cumulative success rate: 0.1724137931034483
+EP 30 success: True; Cumulative success rate: 0.2
+EP 31 success: False; Cumulative success rate: 0.1935483870967742
+EP 32 success: True; 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: 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: True; Cumulative success rate: 0.23809523809523808
+EP 43 success: False; Cumulative success rate: 0.23255813953488372
+EP 44 success: False; Cumulative success rate: 0.22727272727272727
+EP 45 success: False; Cumulative success rate: 0.2222222222222222
+EP 46 success: False; Cumulative success rate: 0.21739130434782608
+EP 47 success: False; Cumulative success rate: 0.2127659574468085
+EP 48 success: False; Cumulative success rate: 0.20833333333333334
+EP 49 success: False; Cumulative success rate: 0.20408163265306123
+EP 50 success: False; Cumulative success rate: 0.2
+Collecting 50 episodes took 371.41 seconds
+Results for AdjustToasterOvenTemperature:
+Success rate: 0.20
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: 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: 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: 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: False; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: True; Cumulative success rate: 0.5416666666666666
+EP 25 success: False; Cumulative success rate: 0.52
+EP 26 success: True; 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: False; 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: False; 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: True; Cumulative success rate: 0.5142857142857142
+EP 36 success: False; Cumulative success rate: 0.5
+EP 37 success: False; Cumulative success rate: 0.4864864864864865
+EP 38 success: True; Cumulative success rate: 0.5
+EP 39 success: True; Cumulative success rate: 0.5128205128205128
+EP 40 success: True; Cumulative success rate: 0.525
+EP 41 success: True; Cumulative success rate: 0.5365853658536586
+EP 42 success: False; Cumulative success rate: 0.5238095238095238
+EP 43 success: False; Cumulative success rate: 0.5116279069767442
+EP 44 success: True; Cumulative success rate: 0.5227272727272727
+EP 45 success: True; Cumulative success rate: 0.5333333333333333
+EP 46 success: False; 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: True; Cumulative success rate: 0.5306122448979592
+EP 50 success: False; Cumulative success rate: 0.52
+Collecting 50 episodes took 360.49 seconds
+Results for AdjustWaterTemperature:
+Success rate: 0.52
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: False; Cumulative success rate: 0.15384615384615385
+EP 14 success: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: False; Cumulative success rate: 0.13333333333333333
+EP 16 success: False; Cumulative success rate: 0.125
+EP 17 success: False; Cumulative success rate: 0.11764705882352941
+EP 18 success: False; Cumulative success rate: 0.1111111111111111
+EP 19 success: False; Cumulative success rate: 0.10526315789473684
+EP 20 success: True; 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: 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: 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: False; Cumulative success rate: 0.1388888888888889
+EP 37 success: False; Cumulative success rate: 0.13513513513513514
+EP 38 success: True; 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: True; 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 967.76 seconds
+Results for CloseBlenderLid:
+Success rate: 0.14
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: 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: True; Cumulative success rate: 0.8888888888888888
+EP 28 success: True; Cumulative success rate: 0.8928571428571429
+EP 29 success: True; Cumulative success rate: 0.896551724137931
+EP 30 success: False; 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: False; 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: False; Cumulative success rate: 0.8
+EP 41 success: True; Cumulative success rate: 0.8048780487804879
+EP 42 success: False; Cumulative success rate: 0.7857142857142857
+EP 43 success: True; Cumulative success rate: 0.7906976744186046
+EP 44 success: False; Cumulative success rate: 0.7727272727272727
+EP 45 success: False; 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: False; 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 1146.33 seconds
+Results for CloseFridge:
+Success rate: 0.76
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: False; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: True; Cumulative success rate: 0.8125
+EP 17 success: True; Cumulative success rate: 0.8235294117647058
+EP 18 success: False; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: False; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: False; Cumulative success rate: 0.7391304347826086
+EP 24 success: True; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: True; Cumulative success rate: 0.7692307692307693
+EP 27 success: False; Cumulative success rate: 0.7407407407407407
+EP 28 success: True; Cumulative success rate: 0.75
+EP 29 success: True; Cumulative success rate: 0.7586206896551724
+EP 30 success: True; Cumulative success rate: 0.7666666666666667
+EP 31 success: False; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: False; Cumulative success rate: 0.7352941176470589
+EP 35 success: True; Cumulative success rate: 0.7428571428571429
+EP 36 success: False; Cumulative success rate: 0.7222222222222222
+EP 37 success: True; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: True; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: False; Cumulative success rate: 0.7380952380952381
+EP 43 success: False; Cumulative success rate: 0.7209302325581395
+EP 44 success: False; Cumulative success rate: 0.7045454545454546
+EP 45 success: False; Cumulative success rate: 0.6888888888888889
+EP 46 success: True; Cumulative success rate: 0.6956521739130435
+EP 47 success: True; Cumulative success rate: 0.7021276595744681
+EP 48 success: False; Cumulative success rate: 0.6875
+EP 49 success: True; Cumulative success rate: 0.6938775510204082
+EP 50 success: True; Cumulative success rate: 0.7
+Collecting 50 episodes took 504.28 seconds
+Results for CloseToasterOvenDoor:
+Success rate: 0.70
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed!
+
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: False; Cumulative success rate: 0.5714285714285714
+EP 15 success: True; Cumulative success rate: 0.6
+EP 16 success: False; Cumulative success rate: 0.5625
+EP 17 success: True; Cumulative success rate: 0.5882352941176471
+EP 18 success: True; Cumulative success rate: 0.6111111111111112
+EP 19 success: False; Cumulative success rate: 0.5789473684210527
+EP 20 success: False; Cumulative success rate: 0.55
+EP 21 success: True; Cumulative success rate: 0.5714285714285714
+EP 22 success: False; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: True; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: True; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; 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: True; 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: False; Cumulative success rate: 0.3902439024390244
+EP 42 success: True; Cumulative success rate: 0.40476190476190477
+EP 43 success: True; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: False; Cumulative success rate: 0.4
+EP 46 success: True; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: False; Cumulative success rate: 0.3877551020408163
+EP 50 success: False; Cumulative success rate: 0.38
+Collecting 50 episodes took 590.73 seconds
+Results for CoffeeSetupMug:
+Success rate: 0.38
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: 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: 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: False; Cumulative success rate: 0.2692307692307692
+EP 27 success: False; Cumulative success rate: 0.25925925925925924
+EP 28 success: True; Cumulative success rate: 0.2857142857142857
+EP 29 success: True; 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: 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: True; Cumulative success rate: 0.2857142857142857
+EP 43 success: False; Cumulative success rate: 0.27906976744186046
+EP 44 success: True; Cumulative success rate: 0.29545454545454547
+EP 45 success: False; Cumulative success rate: 0.28888888888888886
+EP 46 success: False; Cumulative success rate: 0.2826086956521739
+EP 47 success: True; Cumulative success rate: 0.2978723404255319
+EP 48 success: True; Cumulative success rate: 0.3125
+EP 49 success: True; Cumulative success rate: 0.32653061224489793
+EP 50 success: False; Cumulative success rate: 0.32
+Collecting 50 episodes took 497.36 seconds
+Results for NavigateKitchen:
+Success rate: 0.32
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed!
+
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: False; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: False; Cumulative success rate: 0.8421052631578947
+EP 20 success: True; Cumulative success rate: 0.85
+EP 21 success: False; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: True; Cumulative success rate: 0.8333333333333334
+EP 25 success: False; Cumulative success rate: 0.8
+EP 26 success: False; 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: True; Cumulative success rate: 0.7931034482758621
+EP 30 success: False; Cumulative success rate: 0.7666666666666667
+EP 31 success: False; 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: False; Cumulative success rate: 0.7428571428571429
+EP 36 success: True; Cumulative success rate: 0.75
+EP 37 success: False; Cumulative success rate: 0.7297297297297297
+EP 38 success: False; Cumulative success rate: 0.7105263157894737
+EP 39 success: True; Cumulative success rate: 0.717948717948718
+EP 40 success: False; Cumulative success rate: 0.7
+EP 41 success: True; Cumulative success rate: 0.7073170731707317
+EP 42 success: False; Cumulative success rate: 0.6904761904761905
+EP 43 success: False; Cumulative success rate: 0.6744186046511628
+EP 44 success: False; Cumulative success rate: 0.6590909090909091
+EP 45 success: False; Cumulative success rate: 0.6444444444444445
+EP 46 success: True; Cumulative success rate: 0.6521739130434783
+EP 47 success: False; Cumulative success rate: 0.6382978723404256
+EP 48 success: False; Cumulative success rate: 0.625
+EP 49 success: False; Cumulative success rate: 0.6122448979591837
+EP 50 success: False; Cumulative success rate: 0.6
+Collecting 50 episodes took 1192.10 seconds
+Results for OpenCabinet:
+Success rate: 0.60
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: 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: True; 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: True; Cumulative success rate: 0.3333333333333333
+EP 19 success: False; Cumulative success rate: 0.3157894736842105
+EP 20 success: True; Cumulative success rate: 0.35
+EP 21 success: True; Cumulative success rate: 0.38095238095238093
+EP 22 success: True; Cumulative success rate: 0.4090909090909091
+EP 23 success: True; Cumulative success rate: 0.43478260869565216
+EP 24 success: False; Cumulative success rate: 0.4166666666666667
+EP 25 success: False; Cumulative success rate: 0.4
+EP 26 success: False; Cumulative success rate: 0.38461538461538464
+EP 27 success: True; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: False; Cumulative success rate: 0.3793103448275862
+EP 30 success: True; Cumulative success rate: 0.4
+EP 31 success: True; Cumulative success rate: 0.41935483870967744
+EP 32 success: True; Cumulative success rate: 0.4375
+EP 33 success: True; Cumulative success rate: 0.45454545454545453
+EP 34 success: True; Cumulative success rate: 0.47058823529411764
+EP 35 success: True; Cumulative success rate: 0.4857142857142857
+EP 36 success: True; Cumulative success rate: 0.5
+EP 37 success: False; Cumulative success rate: 0.4864864864864865
+EP 38 success: True; Cumulative success rate: 0.5
+EP 39 success: True; 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: True; Cumulative success rate: 0.5348837209302325
+EP 44 success: True; Cumulative success rate: 0.5454545454545454
+EP 45 success: False; Cumulative success rate: 0.5333333333333333
+EP 46 success: True; Cumulative success rate: 0.5434782608695652
+EP 47 success: False; Cumulative success rate: 0.5319148936170213
+EP 48 success: True; Cumulative success rate: 0.5416666666666666
+EP 49 success: False; Cumulative success rate: 0.5306122448979592
+EP 50 success: False; Cumulative success rate: 0.52
+Collecting 50 episodes took 969.48 seconds
+Results for OpenDrawer:
+Success rate: 0.52
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: True; Cumulative success rate: 0.375
+EP 9 success: True; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: 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: False; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: False; Cumulative success rate: 0.47058823529411764
+EP 18 success: False; Cumulative success rate: 0.4444444444444444
+EP 19 success: True; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: True; Cumulative success rate: 0.5652173913043478
+EP 24 success: True; Cumulative success rate: 0.5833333333333334
+EP 25 success: True; Cumulative success rate: 0.6
+EP 26 success: False; Cumulative success rate: 0.5769230769230769
+EP 27 success: False; Cumulative success rate: 0.5555555555555556
+EP 28 success: True; Cumulative success rate: 0.5714285714285714
+EP 29 success: True; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: False; Cumulative success rate: 0.5483870967741935
+EP 32 success: True; Cumulative success rate: 0.5625
+EP 33 success: False; Cumulative success rate: 0.5454545454545454
+EP 34 success: False; Cumulative success rate: 0.5294117647058824
+EP 35 success: False; 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: False; Cumulative success rate: 0.5
+EP 39 success: False; Cumulative success rate: 0.48717948717948717
+EP 40 success: True; Cumulative success rate: 0.5
+EP 41 success: False; Cumulative success rate: 0.4878048780487805
+EP 42 success: True; Cumulative success rate: 0.5
+EP 43 success: True; Cumulative success rate: 0.5116279069767442
+EP 44 success: True; Cumulative success rate: 0.5227272727272727
+EP 45 success: True; Cumulative success rate: 0.5333333333333333
+EP 46 success: True; Cumulative success rate: 0.5434782608695652
+EP 47 success: True; Cumulative success rate: 0.5531914893617021
+EP 48 success: False; Cumulative success rate: 0.5416666666666666
+EP 49 success: True; Cumulative success rate: 0.5510204081632653
+EP 50 success: True; Cumulative success rate: 0.56
+Collecting 50 episodes took 320.36 seconds
+Results for OpenElectricKettleLid:
+Success rate: 0.56
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: 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: True; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: False; 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: False; 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: True; Cumulative success rate: 0.9090909090909091
+EP 45 success: True; Cumulative success rate: 0.9111111111111111
+EP 46 success: True; Cumulative success rate: 0.9130434782608695
+EP 47 success: True; Cumulative success rate: 0.9148936170212766
+EP 48 success: True; Cumulative success rate: 0.9166666666666666
+EP 49 success: True; Cumulative success rate: 0.9183673469387755
+EP 50 success: False; Cumulative success rate: 0.9
+Collecting 50 episodes took 427.19 seconds
+Results for OpenStandMixerHead:
+Success rate: 0.90
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: 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: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: True; Cumulative success rate: 0.4166666666666667
+EP 13 success: True; Cumulative success rate: 0.46153846153846156
+EP 14 success: 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: True; 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: True; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: True; Cumulative success rate: 0.5652173913043478
+EP 24 success: False; Cumulative success rate: 0.5416666666666666
+EP 25 success: False; Cumulative success rate: 0.52
+EP 26 success: True; Cumulative success rate: 0.5384615384615384
+EP 27 success: True; Cumulative success rate: 0.5555555555555556
+EP 28 success: True; Cumulative success rate: 0.5714285714285714
+EP 29 success: True; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: False; Cumulative success rate: 0.5483870967741935
+EP 32 success: 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: False; Cumulative success rate: 0.5428571428571428
+EP 36 success: False; Cumulative success rate: 0.5277777777777778
+EP 37 success: True; Cumulative success rate: 0.5405405405405406
+EP 38 success: True; Cumulative success rate: 0.5526315789473685
+EP 39 success: True; Cumulative success rate: 0.5641025641025641
+EP 40 success: False; Cumulative success rate: 0.55
+EP 41 success: True; Cumulative success rate: 0.5609756097560976
+EP 42 success: False; Cumulative success rate: 0.5476190476190477
+EP 43 success: False; Cumulative success rate: 0.5348837209302325
+EP 44 success: False; Cumulative success rate: 0.5227272727272727
+EP 45 success: False; 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: False; 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 517.87 seconds
+Results for PickPlaceCabinetToCounter:
+Success rate: 0.50
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: 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: 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: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: True; Cumulative success rate: 0.45454545454545453
+EP 23 success: 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: True; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: True; Cumulative success rate: 0.4
+EP 36 success: False; Cumulative success rate: 0.3888888888888889
+EP 37 success: True; Cumulative success rate: 0.40540540540540543
+EP 38 success: True; Cumulative success rate: 0.42105263157894735
+EP 39 success: True; Cumulative success rate: 0.4358974358974359
+EP 40 success: False; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: True; Cumulative success rate: 0.4523809523809524
+EP 43 success: False; Cumulative success rate: 0.4418604651162791
+EP 44 success: False; Cumulative success rate: 0.4318181818181818
+EP 45 success: True; Cumulative success rate: 0.4444444444444444
+EP 46 success: True; Cumulative success rate: 0.45652173913043476
+EP 47 success: False; Cumulative success rate: 0.44680851063829785
+EP 48 success: False; Cumulative success rate: 0.4375
+EP 49 success: True; Cumulative success rate: 0.4489795918367347
+EP 50 success: True; Cumulative success rate: 0.46
+Collecting 50 episodes took 757.45 seconds
+Results for PickPlaceCounterToCabinet:
+Success rate: 0.46
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: 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: False; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: True; Cumulative success rate: 0.4166666666666667
+EP 13 success: True; Cumulative success rate: 0.46153846153846156
+EP 14 success: False; Cumulative success rate: 0.42857142857142855
+EP 15 success: False; Cumulative success rate: 0.4
+EP 16 success: False; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: False; Cumulative success rate: 0.3333333333333333
+EP 19 success: False; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: True; Cumulative success rate: 0.3333333333333333
+EP 22 success: False; Cumulative success rate: 0.3181818181818182
+EP 23 success: 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: False; Cumulative success rate: 0.37037037037037035
+EP 28 success: False; Cumulative success rate: 0.35714285714285715
+EP 29 success: False; Cumulative success rate: 0.3448275862068966
+EP 30 success: True; Cumulative success rate: 0.36666666666666664
+EP 31 success: False; 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: False; Cumulative success rate: 0.3235294117647059
+EP 35 success: False; Cumulative success rate: 0.3142857142857143
+EP 36 success: False; Cumulative success rate: 0.3055555555555556
+EP 37 success: True; Cumulative success rate: 0.32432432432432434
+EP 38 success: True; 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: False; Cumulative success rate: 0.36585365853658536
+EP 42 success: False; Cumulative success rate: 0.35714285714285715
+EP 43 success: True; Cumulative success rate: 0.37209302325581395
+EP 44 success: True; Cumulative success rate: 0.38636363636363635
+EP 45 success: False; Cumulative success rate: 0.37777777777777777
+EP 46 success: False; Cumulative success rate: 0.3695652173913043
+EP 47 success: False; Cumulative success rate: 0.3617021276595745
+EP 48 success: True; Cumulative success rate: 0.375
+EP 49 success: True; Cumulative success rate: 0.3877551020408163
+EP 50 success: True; Cumulative success rate: 0.4
+Collecting 50 episodes took 663.52 seconds
+Results for PickPlaceCounterToStove:
+Success rate: 0.40
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: 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: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: False; Cumulative success rate: 0.3684210526315789
+EP 20 success: True; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: True; 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: False; Cumulative success rate: 0.4230769230769231
+EP 27 success: False; Cumulative success rate: 0.4074074074074074
+EP 28 success: False; Cumulative success rate: 0.39285714285714285
+EP 29 success: True; Cumulative success rate: 0.41379310344827586
+EP 30 success: True; Cumulative success rate: 0.43333333333333335
+EP 31 success: False; Cumulative success rate: 0.41935483870967744
+EP 32 success: True; Cumulative success rate: 0.4375
+EP 33 success: False; Cumulative success rate: 0.42424242424242425
+EP 34 success: False; Cumulative success rate: 0.4117647058823529
+EP 35 success: True; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: True; Cumulative success rate: 0.42105263157894735
+EP 39 success: True; Cumulative success rate: 0.4358974358974359
+EP 40 success: True; Cumulative success rate: 0.45
+EP 41 success: False; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: True; Cumulative success rate: 0.4318181818181818
+EP 45 success: False; Cumulative success rate: 0.4222222222222222
+EP 46 success: True; Cumulative success rate: 0.43478260869565216
+EP 47 success: True; Cumulative success rate: 0.44680851063829785
+EP 48 success: True; Cumulative success rate: 0.4583333333333333
+EP 49 success: False; Cumulative success rate: 0.4489795918367347
+EP 50 success: False; Cumulative success rate: 0.44
+Collecting 50 episodes took 767.70 seconds
+Results for PickPlaceDrawerToCounter:
+Success rate: 0.44
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: False; Cumulative success rate: 0.7272727272727273
+EP 12 success: True; Cumulative success rate: 0.75
+EP 13 success: True; Cumulative success rate: 0.7692307692307693
+EP 14 success: True; Cumulative success rate: 0.7857142857142857
+EP 15 success: True; Cumulative success rate: 0.8
+EP 16 success: 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: True; Cumulative success rate: 0.7368421052631579
+EP 20 success: True; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: 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: False; Cumulative success rate: 0.7037037037037037
+EP 28 success: False; Cumulative success rate: 0.6785714285714286
+EP 29 success: False; Cumulative success rate: 0.6551724137931034
+EP 30 success: True; Cumulative success rate: 0.6666666666666666
+EP 31 success: False; Cumulative success rate: 0.6451612903225806
+EP 32 success: True; Cumulative success rate: 0.65625
+EP 33 success: True; Cumulative success rate: 0.6666666666666666
+EP 34 success: False; Cumulative success rate: 0.6470588235294118
+EP 35 success: False; Cumulative success rate: 0.6285714285714286
+EP 36 success: True; Cumulative success rate: 0.6388888888888888
+EP 37 success: False; Cumulative success rate: 0.6216216216216216
+EP 38 success: True; Cumulative success rate: 0.631578947368421
+EP 39 success: True; Cumulative success rate: 0.6410256410256411
+EP 40 success: 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: True; Cumulative success rate: 0.6444444444444445
+EP 46 success: True; 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 892.94 seconds
+Results for PickPlaceSinkToCounter:
+Success rate: 0.68
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: True; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: True; Cumulative success rate: 0.9166666666666666
+EP 25 success: True; Cumulative success rate: 0.92
+EP 26 success: True; Cumulative success rate: 0.9230769230769231
+EP 27 success: True; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: True; Cumulative success rate: 0.9354838709677419
+EP 32 success: True; Cumulative success rate: 0.9375
+EP 33 success: True; Cumulative success rate: 0.9393939393939394
+EP 34 success: False; Cumulative success rate: 0.9117647058823529
+EP 35 success: True; Cumulative success rate: 0.9142857142857143
+EP 36 success: False; Cumulative success rate: 0.8888888888888888
+EP 37 success: True; Cumulative success rate: 0.8918918918918919
+EP 38 success: True; Cumulative success rate: 0.8947368421052632
+EP 39 success: True; Cumulative success rate: 0.8974358974358975
+EP 40 success: False; Cumulative success rate: 0.875
+EP 41 success: True; Cumulative success rate: 0.8780487804878049
+EP 42 success: True; Cumulative success rate: 0.8809523809523809
+EP 43 success: True; Cumulative success rate: 0.8837209302325582
+EP 44 success: False; Cumulative success rate: 0.8636363636363636
+EP 45 success: False; Cumulative success rate: 0.8444444444444444
+EP 46 success: True; Cumulative success rate: 0.8478260869565217
+EP 47 success: False; Cumulative success rate: 0.8297872340425532
+EP 48 success: 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 555.81 seconds
+Results for PickPlaceToasterToCounter:
+Success rate: 0.82
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: True; 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: True; Cumulative success rate: 0.75
+EP 17 success: True; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: False; Cumulative success rate: 0.782608695652174
+EP 24 success: False; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: 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: True; Cumulative success rate: 0.7931034482758621
+EP 30 success: False; Cumulative success rate: 0.7666666666666667
+EP 31 success: False; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: False; Cumulative success rate: 0.7352941176470589
+EP 35 success: False; 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: True; Cumulative success rate: 0.7619047619047619
+EP 43 success: True; Cumulative success rate: 0.7674418604651163
+EP 44 success: False; Cumulative success rate: 0.75
+EP 45 success: True; Cumulative success rate: 0.7555555555555555
+EP 46 success: True; Cumulative success rate: 0.7608695652173914
+EP 47 success: False; Cumulative success rate: 0.7446808510638298
+EP 48 success: False; Cumulative success rate: 0.7291666666666666
+EP 49 success: False; Cumulative success rate: 0.7142857142857143
+EP 50 success: False; Cumulative success rate: 0.7
+Collecting 50 episodes took 414.05 seconds
+Results for SlideDishwasherRack:
+Success rate: 0.70
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: 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: 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: False; Cumulative success rate: 0.14285714285714285
+EP 15 success: True; Cumulative success rate: 0.2
+EP 16 success: True; Cumulative success rate: 0.25
+EP 17 success: False; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: True; Cumulative success rate: 0.25
+EP 21 success: 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: 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: True; Cumulative success rate: 0.2647058823529412
+EP 35 success: False; Cumulative success rate: 0.2571428571428571
+EP 36 success: True; Cumulative success rate: 0.2777777777777778
+EP 37 success: False; Cumulative success rate: 0.2702702702702703
+EP 38 success: 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: False; Cumulative success rate: 0.2558139534883721
+EP 44 success: False; Cumulative success rate: 0.25
+EP 45 success: False; Cumulative success rate: 0.24444444444444444
+EP 46 success: False; Cumulative success rate: 0.2391304347826087
+EP 47 success: True; Cumulative success rate: 0.2553191489361702
+EP 48 success: True; Cumulative success rate: 0.2708333333333333
+EP 49 success: False; Cumulative success rate: 0.2653061224489796
+EP 50 success: False; Cumulative success rate: 0.26
+Collecting 50 episodes took 459.50 seconds
+Results for TurnOffMicrowave:
+Success rate: 0.26
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: True; Cumulative success rate: 1.0
+EP 11 success: True; Cumulative success rate: 1.0
+EP 12 success: False; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: False; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: True; Cumulative success rate: 0.8947368421052632
+EP 20 success: True; Cumulative success rate: 0.9
+EP 21 success: True; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: False; Cumulative success rate: 0.8695652173913043
+EP 24 success: True; Cumulative success rate: 0.875
+EP 25 success: True; Cumulative success rate: 0.88
+EP 26 success: True; Cumulative success rate: 0.8846153846153846
+EP 27 success: False; Cumulative success rate: 0.8518518518518519
+EP 28 success: False; Cumulative success rate: 0.8214285714285714
+EP 29 success: True; Cumulative success rate: 0.8275862068965517
+EP 30 success: False; Cumulative success rate: 0.8
+EP 31 success: True; Cumulative success rate: 0.8064516129032258
+EP 32 success: True; Cumulative success rate: 0.8125
+EP 33 success: False; 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: 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: True; Cumulative success rate: 0.8367346938775511
+EP 50 success: True; Cumulative success rate: 0.84
+Collecting 50 episodes took 381.57 seconds
+Results for TurnOffSinkFaucet:
+Success rate: 0.84
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: True; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: True; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: False; Cumulative success rate: 0.23076923076923078
+EP 14 success: False; Cumulative success rate: 0.21428571428571427
+EP 15 success: False; Cumulative success rate: 0.2
+EP 16 success: 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: False; Cumulative success rate: 0.2857142857142857
+EP 22 success: True; Cumulative success rate: 0.3181818181818182
+EP 23 success: False; Cumulative success rate: 0.30434782608695654
+EP 24 success: False; Cumulative success rate: 0.2916666666666667
+EP 25 success: False; Cumulative success rate: 0.28
+EP 26 success: False; Cumulative success rate: 0.2692307692307692
+EP 27 success: 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: False; Cumulative success rate: 0.3
+EP 31 success: True; Cumulative success rate: 0.3225806451612903
+EP 32 success: False; 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: True; 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: False; Cumulative success rate: 0.2553191489361702
+EP 48 success: True; Cumulative success rate: 0.2708333333333333
+EP 49 success: False; Cumulative success rate: 0.2653061224489796
+EP 50 success: False; Cumulative success rate: 0.26
+Collecting 50 episodes took 642.55 seconds
+Results for TurnOffStove:
+Success rate: 0.26
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: 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: True; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: True; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: False; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: True; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: True; Cumulative success rate: 0.8076923076923077
+EP 27 success: True; Cumulative success rate: 0.8148148148148148
+EP 28 success: True; Cumulative success rate: 0.8214285714285714
+EP 29 success: True; Cumulative success rate: 0.8275862068965517
+EP 30 success: True; Cumulative success rate: 0.8333333333333334
+EP 31 success: True; Cumulative success rate: 0.8387096774193549
+EP 32 success: True; Cumulative success rate: 0.84375
+EP 33 success: False; Cumulative success rate: 0.8181818181818182
+EP 34 success: False; 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: False; Cumulative success rate: 0.7837837837837838
+EP 38 success: True; Cumulative success rate: 0.7894736842105263
+EP 39 success: True; Cumulative success rate: 0.7948717948717948
+EP 40 success: True; Cumulative success rate: 0.8
+EP 41 success: True; Cumulative success rate: 0.8048780487804879
+EP 42 success: True; Cumulative success rate: 0.8095238095238095
+EP 43 success: True; Cumulative success rate: 0.813953488372093
+EP 44 success: True; Cumulative success rate: 0.8181818181818182
+EP 45 success: True; Cumulative success rate: 0.8222222222222222
+EP 46 success: True; Cumulative success rate: 0.8260869565217391
+EP 47 success: True; Cumulative success rate: 0.8297872340425532
+EP 48 success: True; Cumulative success rate: 0.8333333333333334
+EP 49 success: True; Cumulative success rate: 0.8367346938775511
+EP 50 success: True; Cumulative success rate: 0.84
+Collecting 50 episodes took 450.27 seconds
+Results for TurnOnElectricKettle:
+Success rate: 0.84
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: False; Cumulative success rate: 0.4
+EP 11 success: False; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: True; Cumulative success rate: 0.4375
+EP 17 success: True; Cumulative success rate: 0.47058823529411764
+EP 18 success: True; Cumulative success rate: 0.5
+EP 19 success: False; 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: True; 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: False; Cumulative success rate: 0.37037037037037035
+EP 28 success: True; 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: False; Cumulative success rate: 0.375
+EP 33 success: False; Cumulative success rate: 0.36363636363636365
+EP 34 success: False; Cumulative success rate: 0.35294117647058826
+EP 35 success: True; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: False; Cumulative success rate: 0.35135135135135137
+EP 38 success: False; Cumulative success rate: 0.34210526315789475
+EP 39 success: False; Cumulative success rate: 0.3333333333333333
+EP 40 success: False; Cumulative success rate: 0.325
+EP 41 success: True; Cumulative success rate: 0.34146341463414637
+EP 42 success: False; Cumulative success rate: 0.3333333333333333
+EP 43 success: False; Cumulative success rate: 0.32558139534883723
+EP 44 success: True; Cumulative success rate: 0.3409090909090909
+EP 45 success: False; Cumulative success rate: 0.3333333333333333
+EP 46 success: False; Cumulative success rate: 0.32608695652173914
+EP 47 success: False; Cumulative success rate: 0.3191489361702128
+EP 48 success: True; Cumulative success rate: 0.3333333333333333
+EP 49 success: False; Cumulative success rate: 0.32653061224489793
+EP 50 success: False; Cumulative success rate: 0.32
+Collecting 50 episodes took 571.07 seconds
+Results for TurnOnMicrowave:
+Success rate: 0.32
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: 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: 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: 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: 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: 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: False; 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: 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: 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: False; 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: True; Cumulative success rate: 0.68
+Collecting 50 episodes took 606.64 seconds
+Results for TurnOnSinkFaucet:
+Success rate: 0.68
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: True; Cumulative success rate: 0.2857142857142857
+EP 8 success: True; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: True; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: 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: 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: False; Cumulative success rate: 0.4
+EP 21 success: False; Cumulative success rate: 0.38095238095238093
+EP 22 success: False; Cumulative success rate: 0.36363636363636365
+EP 23 success: False; Cumulative success rate: 0.34782608695652173
+EP 24 success: True; Cumulative success rate: 0.375
+EP 25 success: 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: False; Cumulative success rate: 0.28125
+EP 33 success: True; Cumulative success rate: 0.30303030303030304
+EP 34 success: True; Cumulative success rate: 0.3235294117647059
+EP 35 success: False; Cumulative success rate: 0.3142857142857143
+EP 36 success: False; Cumulative success rate: 0.3055555555555556
+EP 37 success: True; 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: True; Cumulative success rate: 0.325
+EP 41 success: True; 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 438.29 seconds
+Results for TurnOnStove:
+Success rate: 0.30
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: True; Cumulative success rate: 1.0
+EP 11 success: True; Cumulative success rate: 1.0
+EP 12 success: True; Cumulative success rate: 1.0
+EP 13 success: True; Cumulative success rate: 1.0
+EP 14 success: True; Cumulative success rate: 1.0
+EP 15 success: True; Cumulative success rate: 1.0
+EP 16 success: True; Cumulative success rate: 1.0
+EP 17 success: True; Cumulative success rate: 1.0
+EP 18 success: True; Cumulative success rate: 1.0
+EP 19 success: True; Cumulative success rate: 1.0
+EP 20 success: True; Cumulative success rate: 1.0
+EP 21 success: True; Cumulative success rate: 1.0
+EP 22 success: True; Cumulative success rate: 1.0
+EP 23 success: True; Cumulative success rate: 1.0
+EP 24 success: True; Cumulative success rate: 1.0
+EP 25 success: True; Cumulative success rate: 1.0
+EP 26 success: True; Cumulative success rate: 1.0
+EP 27 success: True; Cumulative success rate: 1.0
+EP 28 success: True; Cumulative success rate: 1.0
+EP 29 success: True; Cumulative success rate: 1.0
+EP 30 success: True; Cumulative success rate: 1.0
+EP 31 success: True; Cumulative success rate: 1.0
+EP 32 success: True; Cumulative success rate: 1.0
+EP 33 success: True; Cumulative success rate: 1.0
+EP 34 success: True; Cumulative success rate: 1.0
+EP 35 success: True; Cumulative success rate: 1.0
+EP 36 success: True; Cumulative success rate: 1.0
+EP 37 success: True; Cumulative success rate: 1.0
+EP 38 success: True; Cumulative success rate: 1.0
+EP 39 success: True; Cumulative success rate: 1.0
+EP 40 success: True; Cumulative success rate: 1.0
+EP 41 success: True; Cumulative success rate: 1.0
+EP 42 success: True; Cumulative success rate: 1.0
+EP 43 success: True; Cumulative success rate: 1.0
+EP 44 success: True; Cumulative success rate: 1.0
+EP 45 success: True; Cumulative success rate: 1.0
+EP 46 success: True; Cumulative success rate: 1.0
+EP 47 success: False; Cumulative success rate: 0.9787234042553191
+EP 48 success: True; Cumulative success rate: 0.9791666666666666
+EP 49 success: True; Cumulative success rate: 0.9795918367346939
+EP 50 success: True; Cumulative success rate: 0.98
+Collecting 50 episodes took 431.54 seconds
+Results for TurnSinkSpout:
+Success rate: 0.98
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+/home/ext_minje/miniforge3/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 4h 25m 13s (15913.24s)
+- model_path: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default
+- video_dir: /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- episode_seed_start: 42
+- episode_seed_manifest: None
+- episode_manifest_output: None
+- command: my_scripts/run_eval.py --model_path /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4936 --seed 42
+- config_yaml_candidates:
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a.yaml
+- selected_config_yaml: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml
+- copied_config_yamls:
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/rkd_v2_1_a.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 14 | None
+CloseFridge: 76 | None
+CloseToasterOvenDoor: 70 | None
+CoffeeSetupMug: 38 | None
+NavigateKitchen: 32 | None
+OpenCabinet: 60 | None
+OpenDrawer: 52 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 46 | None
+PickPlaceCounterToStove: 40 | None
+PickPlaceDrawerToCounter: 44 | None
+PickPlaceSinkToCounter: 68 | None
+PickPlaceToasterToCounter: 82 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 84 | None
+TurnOnMicrowave: 32 | None
+TurnOffMicrowave: 26 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 68 | None
+TurnSinkSpout: 98 | None
+TurnOffSinkFaucet: 84 | None
+AdjustWaterTemperature: 52 | None
+TurnOffStove: 26 | None
+TurnOnStove: 30 | None
+AdjustToasterOvenTemperature: 20 | None
+AVG: 54.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
+saved eval stats report to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/summary.txt
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/eval_manifest.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/eval_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..398b768b35cd72e0caa3f9f8985a32728f549e7a
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/eval_manifest.json	
@@ -0,0 +1,11763 @@
+{
+  "version": 1,
+  "split": "pretrain",
+  "task_set": [
+    "my_atomic26"
+  ],
+  "n_episodes_per_task": 50,
+  "episode_seed_start": 42,
+  "tasks": {
+    "AdjustToasterOvenTemperature": [
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Increase the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 9.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Decrease the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 4.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Decrease the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Increase the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Increase the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Increase the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Decrease the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Increase the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 13.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Decrease the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Increase the toaster oven temperature.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      }
+    ],
+    "AdjustWaterTemperature": [
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 14.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 23.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
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+        "seed": 54,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
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+        "reward": 19.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
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+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
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+        "reward": 18.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 12.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 22.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 11.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 6.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": true,
+        "length": 29,
+        "reward": 12.0
+      },
+      {
+        "task_name": "AdjustWaterTemperature",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      }
+    ],
+    "CloseBlenderLid": [
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": true,
+        "length": 57,
+        "reward": 37.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": true,
+        "length": 57,
+        "reward": 9.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
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+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
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+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
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+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
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+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Close the lid blender by securely placing the lid on top.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "CloseBlenderLid",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Close the lid blender by securely placing the lid on top.",
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+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the pear from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peach from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the ketchup from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 17.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 4.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the potato from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the chicken drumstick from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 15.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 3.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the tupperware from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the eggplant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      }
+    ],
+    "PickPlaceCounterToCabinet": [
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the avocado from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the honey bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the spray from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the tongs from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the candle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peach from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the boxed food from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the wine from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the bowl from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the pot from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 37.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the can from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the donut from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sugar cube from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the ice cube from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 32.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 23.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the bar soap from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      }
+    ],
+    "PickPlaceCounterToStove": [
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the lemon wedge from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 9.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the lime from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the egg from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the fish from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the bell pepper from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the shrimp from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the hotdog bun from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the eggplant from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the sweet potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the bell pepper from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the carrot from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the mushroom from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the cream cheese stick from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the broccoli from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the lime from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the egg from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the chicken drumstick from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the tomato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the hot dog from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the mushroom from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the chicken drumstick from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the sweet potato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the eggplant from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the shrimp from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 29.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 15.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0
+      }
+    ],
+    "PickPlaceDrawerToCounter": [
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 14.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 30.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 32.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 6.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 29.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 18.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 24.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 9.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 21.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 31.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 17.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 29.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 14.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 32.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      }
+    ],
+    "PickPlaceSinkToCounter": [
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the cucumber from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the pear from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 39.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the steak from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the cream cheese stick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the bell pepper from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the apple from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the fish from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 41.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the tangerine from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      }
+    ],
+    "PickPlaceToasterToCounter": [
+      {
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Place the toasted item on a plate.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceToasterToCounter",
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+        "description": "Turn on the front left burner of the stove.",
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+        "description": "Turn on the rear right burner of the stove.",
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+        "description": "Turn on the rear right burner of the stove.",
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+        "reward": 0.0
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+        "task_name": "TurnSinkSpout",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the right.",
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+        "seed": 80,
+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the left.",
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+      },
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+        "seed": 82,
+        "description": "Turn the sink spout to the right.",
+        "success": true,
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+        "reward": 15.0
+      },
+      {
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+        "seed": 83,
+        "description": "Turn the sink spout to the right.",
+        "success": true,
+        "length": 19,
+        "reward": 15.0
+      },
+      {
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+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Turn the sink spout to the left.",
+        "success": true,
+        "length": 19,
+        "reward": 16.0
+      },
+      {
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+        "seed": 85,
+        "description": "Turn the sink spout to the right.",
+        "success": true,
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+        "reward": 15.0
+      },
+      {
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+        "seed": 86,
+        "description": "Turn the sink spout to the right.",
+        "success": true,
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+        "reward": 15.0
+      },
+      {
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+        "seed": 87,
+        "description": "Turn the sink spout to the left.",
+        "success": true,
+        "length": 19,
+        "reward": 14.0
+      },
+      {
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+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Turn the sink spout to the right.",
+        "success": false,
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+        "reward": 0.0
+      },
+      {
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+        "seed": 89,
+        "description": "Turn the sink spout to the right.",
+        "success": true,
+        "length": 19,
+        "reward": 15.0
+      },
+      {
+        "task_name": "TurnSinkSpout",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Turn the sink spout to the left.",
+        "success": true,
+        "length": 19,
+        "reward": 14.0
+      },
+      {
+        "task_name": "TurnSinkSpout",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Turn the sink spout to the left.",
+        "success": true,
+        "length": 19,
+        "reward": 15.0
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..f93d1aeb1cc6eef0b6f699f831bf2f63cdf62ccf
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/episode_results.json	
@@ -0,0 +1,602 @@
+[
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diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e47771999448321860a2ea1e009f634c593c04fc
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/stats.json	
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8049185da85d25e0aec2d23ec4e73ece3ac0046
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json	
@@ -0,0 +1,602 @@
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..76be793f62364e20a7c9756ec25ef1aa1277e792
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef12501f9e8c08b71c89816c60e2d624513d32b8
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d088439d3222ed4f5f5f6ddc6a065a1e7e52275
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b743e06267158748148ddfe2ce7ef7a97c81d31
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json	
@@ -0,0 +1,602 @@
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diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd4d221486b7c08da6f09ffb791e8dedc2acb92b
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae903a080600b654b94e92e545b7629e8db510ff
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e693a68d81d4ec81b8ac5cc01d64b343b26e2fd1
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json	
@@ -0,0 +1,606 @@
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+        },
+        {
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+        },
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+        },
+        {
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+            "description": "Pick the mug from the counter and place it under the coffee machine dispenser.",
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+        },
+        {
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+            "task_name": "CoffeeSetupMug",
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+            "seed": 91,
+            "description": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+            "success": false,
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+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bc012d3d390fa8ef41800926e7f7b531e6038b7
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json	
@@ -0,0 +1,602 @@
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+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3759b592090cace0682c6d912991017580f4ac
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..b223e5f958097d8bfb528cab4ff13133b1409066
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/episode_results.json	
@@ -0,0 +1,602 @@
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f016a69c3c8936a877ff97fec6074b0a8db19c
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/stats.json	
@@ -0,0 +1,606 @@
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+            "description": "Open the cabinet door.",
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+        },
+        {
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+            "seed": 91,
+            "description": "Open the cabinet doors.",
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+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..c693ab95be6659812ec7d49804815cc479cd35d9
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json	
@@ -0,0 +1,602 @@
+[
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+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8de29b8cefd9671e6f1e3f24c1c1f72647c7fc2a
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json	
@@ -0,0 +1,606 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.52,
+    "episodes": [
+        {
+            "completion_order": 0,
+            "task_name": "OpenDrawer",
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9b5c059b3aa38bb402befd8fca108c39ebd7a3
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json	
@@ -0,0 +1,602 @@
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diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..779606b3208e4e3eedc6489a1f518d92f0ee1754
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dbd3e44a28110c1c115ed88f0098566d953a8d2
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae6b41cfe00b16f40d3c41fe80df3ef5d77a397
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..f822d59c6f342da052281b8e3ab3c47cddd224f7
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the egg from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the honey bottle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the sponge from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the bar soap from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the pear from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peach from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the ketchup from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 17.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 4.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the potato from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the chicken drumstick from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 15.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 3.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the tupperware from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 21.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 49,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the eggplant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb925fa2e681bc04bcec173672c6c1bf2ba29e6
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the avocado from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the honey bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the spray from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the tongs from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the candle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceCounterToCabinet",
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+        "description": "Pick the peach from the counter and place it in the cabinet.",
+        "success": false,
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+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
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+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the counter and place it in the cabinet.",
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+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the boxed food from the counter and place it in the cabinet.",
+        "success": true,
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+        "reward": 35.0,
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+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the counter and place it in the cabinet.",
+        "success": true,
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+        "reward": 36.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the wine from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceCounterToCabinet",
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+        "seed": 57,
+        "description": "Pick the bowl from the counter and place it in the cabinet.",
+        "success": false,
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+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the pot from the counter and place it in the cabinet.",
+        "success": false,
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+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceCounterToCabinet",
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+        "seed": 59,
+        "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+        "success": true,
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+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 37.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the can from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the donut from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sugar cube from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the ice cube from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 32.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 23.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 49,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the bar soap from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b02411ecc4b3e2deb44543faa328c04e42cad0
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json	
@@ -0,0 +1,606 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46,
+    "episodes": [
+        {
+            "completion_order": 0,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 0,
+            "seed": 42,
+            "description": "Pick the dish brush from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 1,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 1,
+            "seed": 43,
+            "description": "Pick the apple from the counter and place it in the cabinet.",
+            "success": true,
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+            "reward": 36.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 2,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 2,
+            "seed": 44,
+            "description": "Pick the avocado from the counter and place it in the cabinet.",
+            "success": true,
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+            "video_path": null
+        },
+        {
+            "completion_order": 3,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 3,
+            "seed": 45,
+            "description": "Pick the honey bottle from the counter and place it in the cabinet.",
+            "success": false,
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+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 4,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 4,
+            "seed": 46,
+            "description": "Pick the spray from the counter and place it in the cabinet.",
+            "success": false,
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+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 5,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 5,
+            "seed": 47,
+            "description": "Pick the tongs from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 6,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 6,
+            "seed": 48,
+            "description": "Pick the turmeric from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 34.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 7,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 7,
+            "seed": 49,
+            "description": "Pick the candle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 8,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 8,
+            "seed": 50,
+            "description": "Pick the peach from the counter and place it in the cabinet.",
+            "success": false,
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+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 9,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 9,
+            "seed": 51,
+            "description": "Pick the kiwi from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 10,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 10,
+            "seed": 52,
+            "description": "Pick the jug from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 11,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 11,
+            "seed": 53,
+            "description": "Pick the boxed food from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 12,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 12,
+            "seed": 54,
+            "description": "Pick the croissant from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 13,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 13,
+            "seed": 55,
+            "description": "Pick the yogurt from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 14,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 14,
+            "seed": 56,
+            "description": "Pick the wine from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 15,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 15,
+            "seed": 57,
+            "description": "Pick the bowl from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 16,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 16,
+            "seed": 58,
+            "description": "Pick the pot from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 17,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 17,
+            "seed": 59,
+            "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 18,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 18,
+            "seed": 60,
+            "description": "Pick the kettle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 19,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 19,
+            "seed": 61,
+            "description": "Pick the turmeric from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 20,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 20,
+            "seed": 62,
+            "description": "Pick the apple from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 21,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 21,
+            "seed": 63,
+            "description": "Pick the sweet potato from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 22,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 22,
+            "seed": 64,
+            "description": "Pick the apple from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 23,
+            "seed": 65,
+            "description": "Pick the onion from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 24,
+            "seed": 66,
+            "description": "Pick the blender jug from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 25,
+            "seed": 67,
+            "description": "Pick the shrimp from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 26,
+            "seed": 68,
+            "description": "Pick the kiwi from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 37.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 27,
+            "seed": 69,
+            "description": "Pick the can from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 28,
+            "seed": 70,
+            "description": "Pick the donut from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 29,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 29,
+            "seed": 71,
+            "description": "Pick the water bottle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 30,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 30,
+            "seed": 72,
+            "description": "Pick the straw from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 31,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 31,
+            "seed": 73,
+            "description": "Pick the paprika from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 32,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 32,
+            "seed": 74,
+            "description": "Pick the mustard from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 33,
+            "seed": 75,
+            "description": "Pick the corn from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 34,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Pick the corn from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Pick the sugar cube from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Pick the ice cube from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 34.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 37,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Pick the garlic from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 32.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 38,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Pick the cheese from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 39,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Pick the bar from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Pick the broccoli from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Pick the shrimp from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 33.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Pick the juice from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Pick the straw from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Pick the cream cheese stick from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 33.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Pick the steak from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the steak from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the salt/pepper shaker from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the turmeric from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 23.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the bar soap from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..28510234bc050d2bcd90ec8c0c65ac8796d74594
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the lemon wedge from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 9.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the lime from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the egg from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the fish from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the bell pepper from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the shrimp from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the hotdog bun from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the eggplant from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the sweet potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the bell pepper from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the carrot from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the mushroom from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the cream cheese stick from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the broccoli from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
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+    },
+    {
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+        "seed": 70,
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+    },
+    {
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+        "task_name": "PickPlaceCounterToStove",
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+        "seed": 71,
+        "description": "Pick the egg from the plate and place it in the pan.",
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+    {
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+        "seed": 72,
+        "description": "Pick the garlic from the plate and place it in the pan.",
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+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the corn from the plate and place it in the pan.",
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+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the potato from the plate and place it in the pan.",
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+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the chicken drumstick from the plate and place it in the pan.",
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+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the steak from the plate and place it in the pan.",
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+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the onion from the plate and place it in the pan.",
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+        "video_path": null
+    },
+    {
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+        "task_name": "PickPlaceCounterToStove",
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+        "seed": 78,
+        "description": "Pick the tomato from the plate and place it in the pan.",
+        "success": true,
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+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the hot dog from the plate and place it in the pan.",
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+        "reward": 26.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the mushroom from the plate and place it in the pan.",
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+        "reward": 28.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the plate and place it in the pan.",
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+        "reward": 27.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the chicken drumstick from the plate and place it in the pan.",
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+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
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+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
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+        "reward": 26.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the sweet potato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the eggplant from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the shrimp from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 29.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 15.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 49,
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c155568f15a58e04a3a73b28874baf99b86ccfb1
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/stats.json	
@@ -0,0 +1,606 @@
+{
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+    "success_rate": 0.4,
+    "episodes": [
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+            "completion_order": 0,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 0,
+            "seed": 42,
+            "description": "Pick the garlic from the plate and place it in the pan.",
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+        },
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+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 1,
+            "seed": 43,
+            "description": "Pick the lemon wedge from the plate and place it in the pan.",
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+        },
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+            "description": "Pick the potato from the plate and place it in the pan.",
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+        },
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+            "seed": 45,
+            "description": "Pick the mango from the plate and place it in the pan.",
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+        },
+        {
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+            "seed": 46,
+            "description": "Pick the lime from the plate and place it in the pan.",
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+        },
+        {
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+            "seed": 47,
+            "description": "Pick the egg from the plate and place it in the pan.",
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+        },
+        {
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+            "seed": 53,
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+        },
+        {
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+        },
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+            "seed": 55,
+            "description": "Pick the shrimp from the plate and place it in the pan.",
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+        },
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+            "description": "Pick the onion from the plate and place it in the pan.",
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+        },
+        {
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+            "task_name": "PickPlaceCounterToStove",
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+            "seed": 57,
+            "description": "Pick the hotdog bun from the plate and place it in the pan.",
+            "success": false,
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+        },
+        {
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+            "seed": 58,
+            "description": "Pick the steak from the plate and place it in the pan.",
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+        },
+        {
+            "completion_order": 17,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 17,
+            "seed": 59,
+            "description": "Pick the corn from the plate and place it in the pan.",
+            "success": false,
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+            "reward": 0.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 18,
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+            "description": "Pick the eggplant from the plate and place it in the pan.",
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+            "description": "Pick the potato from the plate and place it in the pan.",
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+            "task_name": "PickPlaceCounterToStove",
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+            "seed": 63,
+            "description": "Pick the bell pepper from the plate and place it in the pan.",
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+        {
+            "completion_order": 22,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 22,
+            "seed": 64,
+            "description": "Pick the carrot from the plate and place it in the pan.",
+            "success": true,
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+            "reward": 26.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 23,
+            "seed": 65,
+            "description": "Pick the mango from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 24,
+            "seed": 66,
+            "description": "Pick the mushroom from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 28.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 25,
+            "seed": 67,
+            "description": "Pick the cream cheese stick from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 27.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 26,
+            "seed": 68,
+            "description": "Pick the broccoli from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 27,
+            "seed": 69,
+            "description": "Pick the lime from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 28,
+            "seed": 70,
+            "description": "Pick the mango from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 29,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 29,
+            "seed": 71,
+            "description": "Pick the egg from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 27.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 30,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 30,
+            "seed": 72,
+            "description": "Pick the garlic from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 31,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 31,
+            "seed": 73,
+            "description": "Pick the corn from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 32,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 32,
+            "seed": 74,
+            "description": "Pick the potato from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 33,
+            "seed": 75,
+            "description": "Pick the chicken drumstick from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 34,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Pick the steak from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Pick the onion from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Pick the tomato from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 27.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 37,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Pick the hot dog from the plate and place it in the pan.",
+            "success": true,
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+            "reward": 26.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 38,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Pick the mushroom from the plate and place it in the pan.",
+            "success": true,
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+            "reward": 28.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 39,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Pick the lemon from the plate and place it in the pan.",
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+            "reward": 27.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Pick the chicken drumstick from the plate and place it in the pan.",
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+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Pick the corn from the plate and place it in the pan.",
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+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Pick the apple from the plate and place it in the pan.",
+            "success": true,
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+            "reward": 26.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Pick the sweet potato from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 27.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Pick the eggplant from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Pick the potato from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the shrimp from the plate and place it in the pan.",
+            "success": false,
+            "length": 38,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the apple from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 29.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the onion from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 15.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceCounterToStove",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the apple from the plate and place it in the pan.",
+            "success": true,
+            "length": 38,
+            "reward": 25.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..364321b730100abb496c916858abcb084dadd1b9
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json	
@@ -0,0 +1,606 @@
+{
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+    "success_rate": 0.44,
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+        {
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+        {
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+            "reward": 0.0,
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+        },
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+        },
+        {
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+            "seed": 70,
+            "description": "Pick the dish brush from the drawer and place it on the counter.",
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+            "reward": 9.0,
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+            "video_path": null
+        },
+        {
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+        {
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+            "seed": 72,
+            "description": "Pick the whisk from the drawer and place it on the counter.",
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+            "reward": 0.0,
+            "env_idx": 0,
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+        },
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+            "description": "Pick the whisk from the drawer and place it on the counter.",
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+            "reward": 21.0,
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+        },
+        {
+            "completion_order": 32,
+            "task_name": "PickPlaceDrawerToCounter",
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+            "seed": 74,
+            "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "PickPlaceDrawerToCounter",
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+            "seed": 75,
+            "description": "Pick the tongs from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
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+        },
+        {
+            "completion_order": 34,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Pick the whisk from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 31.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Pick the rolling pin from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
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+        },
+        {
+            "completion_order": 36,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Pick the ladle from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
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+        },
+        {
+            "completion_order": 37,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Pick the rolling pin from the drawer and place it on the counter.",
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+        },
+        {
+            "completion_order": 38,
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+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Pick the tongs from the drawer and place it on the counter.",
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+            "video_path": null
+        },
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+            "completion_order": 39,
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+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Pick the pizza cutter from the drawer and place it on the counter.",
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+            "completion_order": 40,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Pick the dish brush from the drawer and place it on the counter.",
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+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceDrawerToCounter",
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+            "seed": 83,
+            "description": "Pick the dish brush from the drawer and place it on the counter.",
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+        },
+        {
+            "completion_order": 42,
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+            "seed": 84,
+            "description": "Pick the wooden spoon from the drawer and place it on the counter.",
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+        },
+        {
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+            "seed": 85,
+            "description": "Pick the tongs from the drawer and place it on the counter.",
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+        },
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+            "description": "Pick the ladle from the drawer and place it on the counter.",
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+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceDrawerToCounter",
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+            "description": "Pick the tongs from the drawer and place it on the counter.",
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+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the whisk from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 32.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 28.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the ladle from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the peeler from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb04333761c4cdfcad2e8ab4d747784a7eaff261
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the cucumber from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the pear from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 39.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the steak from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the cream cheese stick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the bell pepper from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the apple from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the fish from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 41.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the tangerine from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 49,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b7fdceeb939a0e8b7134f0cf50eb12d30b338e
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/stats.json	
@@ -0,0 +1,606 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.68,
+    "episodes": [
+        {
+            "completion_order": 0,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 0,
+            "seed": 42,
+            "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 1,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 1,
+            "seed": 43,
+            "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 2,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 2,
+            "seed": 44,
+            "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 46.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 3,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 3,
+            "seed": 45,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 43.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 4,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 4,
+            "seed": 46,
+            "description": "Pick the cucumber from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 5,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 5,
+            "seed": 47,
+            "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 6,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 6,
+            "seed": 48,
+            "description": "Pick the pear from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 7,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 7,
+            "seed": 49,
+            "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 8,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 8,
+            "seed": 50,
+            "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 39.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 9,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 9,
+            "seed": 51,
+            "description": "Pick the steak from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 42.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 10,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 10,
+            "seed": 52,
+            "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 11,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 11,
+            "seed": 53,
+            "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 43.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 12,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 12,
+            "seed": 54,
+            "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 13,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 13,
+            "seed": 55,
+            "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 14,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 14,
+            "seed": 56,
+            "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 46.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 15,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 15,
+            "seed": 57,
+            "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 16,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 16,
+            "seed": 58,
+            "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 17,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 17,
+            "seed": 59,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 18,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 18,
+            "seed": 60,
+            "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 19,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 19,
+            "seed": 61,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 46.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 20,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 20,
+            "seed": 62,
+            "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 21,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 21,
+            "seed": 63,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 22,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 22,
+            "seed": 64,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 23,
+            "seed": 65,
+            "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 24,
+            "seed": 66,
+            "description": "Pick the cream cheese stick from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 25,
+            "seed": 67,
+            "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 47.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 26,
+            "seed": 68,
+            "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 27,
+            "seed": 69,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 28,
+            "seed": 70,
+            "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 29,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 29,
+            "seed": 71,
+            "description": "Pick the potato from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 43.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 30,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 30,
+            "seed": 72,
+            "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 31,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 31,
+            "seed": 73,
+            "description": "Pick the bell pepper from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 47.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 32,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 32,
+            "seed": 74,
+            "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 42.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 33,
+            "seed": 75,
+            "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 34,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 37,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 38,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Pick the apple from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 39,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 47.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Pick the fish from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+            "success": false,
+            "length": 57,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 41.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 44.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 42.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the tangerine from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 46.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceSinkToCounter",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+            "success": true,
+            "length": 57,
+            "reward": 45.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c84d405d9d37604f88bbc3057b226ab1d60df61
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Place the toasted item on a plate.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Place the toasted item on a plate.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 24.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 23.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 21.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0,
+        "env_idx": 1,
+        "video_path": null
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..72893caeee4867e95598d6f970c7b059f4724a31
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04b01cd19d192c1603ec54d59c25709417a262a
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a2c5c10f447949464d75f5767b2145ca136648
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json	
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+            "video_path": null
+        },
+        {
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+            "task_name": "SlideDishwasherRack",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Fully slide the top dishwasher rack out.",
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+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "SlideDishwasherRack",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Fully slide the top dishwasher rack in.",
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+            "reward": 0.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 48,
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+            "episode_idx": 48,
+            "seed": 90,
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+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "SlideDishwasherRack",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Fully slide the top dishwasher rack in.",
+            "success": false,
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+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..6998a813deb36ac1827e3c6eaba6997040f0e2be
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json	
@@ -0,0 +1,602 @@
+[
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+    },
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+    {
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+        "task_name": "TurnOffMicrowave",
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+        "description": "Press the stop button on the microwave.",
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+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fad28012753b1dce48a526462f602f006f5915fc
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json	
@@ -0,0 +1,606 @@
+{
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..db75a6ddb3ce74466e9f34daa5c4b5130be160c5
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6528784079ffbcbab1cdb3ee079c8321c45989a2
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae98b28746f396fe8008643a89aa708c4598973d
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce999a9b49f134679c88b73ecbf08bc80bf45a8
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json	
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede6cd17ece18167f8c2afb1e2e5f1ef6da406a3
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ebdd3d1046991b2bbaa897271ad77019a7d59d3
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json	
@@ -0,0 +1,606 @@
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+        {
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+            "reward": 23.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2fb6238a978ddcedd21c721e54c823c08a99a1d
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/episode_results.json	
@@ -0,0 +1,602 @@
+[
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+        "description": "Press the start button on the microwave.",
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec332d08b1df6a9f306b3d084be7505bb3f99f0
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/stats.json	
@@ -0,0 +1,606 @@
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+        {
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+            "reward": 0.0,
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+        },
+        {
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+            "task_name": "TurnOnMicrowave",
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+            "description": "Press the start button on the microwave.",
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+            "description": "Press the start button on the microwave.",
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+            "description": "Press the start button on the microwave.",
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+            "video_path": null
+        },
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+            "seed": 91,
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+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..38655cc8009087778ca33078c042c1d40b5f691f
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json	
@@ -0,0 +1,602 @@
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+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bfb7084bc63b9e285aa78f51f9bab868445cfb0
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json	
@@ -0,0 +1,606 @@
+{
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+            "description": "Turn on the sink faucet.",
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e33689c9a21910baf37af8ae66e5c43e2f9341
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json	
@@ -0,0 +1,602 @@
+[
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5669e8a8eb17d37ffd06c8b9567df0782d3f7f6a
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json	
@@ -0,0 +1,606 @@
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+            "reward": 0.0,
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+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..662d193e8440e15ac911bc2fbe858fa7dd279f3a
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea74c10d0e70427fede482a135132cf35ce1834
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/resolved_config.yaml b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..48d857495ed4dfc0df782a1ae88eafdc28153110
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/resolved_config.yaml	
@@ -0,0 +1,44 @@
+experiment_name: rkd_v2_1_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_a_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_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_a_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_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+resolved_sweep: {}
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/rkd_v2_1_a.yaml b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/rkd_v2_1_a.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f548f677381a52267d041be2e507aa92b5a06a65
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/rkd_v2_1_a.yaml	
@@ -0,0 +1,43 @@
+experiment_name: rkd_v2_1_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_a_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_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_a_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_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/summary.txt b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb4b8d30563d71a61e10a3c3ae7f078d7a4c9213
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10/summary.txt	
@@ -0,0 +1,59 @@
+Eval metadata
+- total_eval_time: 4h 25m 13s (15913.24s)
+- model_path: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default
+- video_dir: /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- episode_seed_start: 42
+- episode_seed_manifest: None
+- episode_manifest_output: None
+- command: my_scripts/run_eval.py --model_path /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4936 --seed 42
+- config_yaml_candidates:
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a.yaml
+- selected_config_yaml: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml
+- copied_config_yamls:
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/rkd_v2_1_a.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_A_phase3_30k/seed42_my_atomic26_nenv10/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 14 | None
+CloseFridge: 76 | None
+CloseToasterOvenDoor: 70 | None
+CoffeeSetupMug: 38 | None
+NavigateKitchen: 32 | None
+OpenCabinet: 60 | None
+OpenDrawer: 52 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 46 | None
+PickPlaceCounterToStove: 40 | None
+PickPlaceDrawerToCounter: 44 | None
+PickPlaceSinkToCounter: 68 | None
+PickPlaceToasterToCounter: 82 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 84 | None
+TurnOnMicrowave: 32 | None
+TurnOffMicrowave: 26 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 68 | None
+TurnSinkSpout: 98 | None
+TurnOffSinkFaucet: 84 | None
+AdjustWaterTemperature: 52 | None
+TurnOffStove: 26 | None
+TurnOnStove: 30 | None
+AdjustToasterOvenTemperature: 20 | None
+AVG: 54.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/logs/seed42_my_atomic26_nenv10_recover_20260624_232333.log b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/logs/seed42_my_atomic26_nenv10_recover_20260624_232333.log
new file mode 100644
index 0000000000000000000000000000000000000000..9b9f6ee8e0f073c0a8925e0d786193b1bb0c1790
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/logs/seed42_my_atomic26_nenv10_recover_20260624_232333.log	
@@ -0,0 +1,5535 @@
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/phase3
+Loading pretrained dual brain from /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/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/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/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,  5.18it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.29it/s]
Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  4.40it/s]
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/ext_minje/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://0.0.0.0:4935
+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/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustToasterOvenTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/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/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: False; Cumulative success rate: 0.16666666666666666
+EP 7 success: False; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: False; Cumulative success rate: 0.08333333333333333
+EP 13 success: False; Cumulative success rate: 0.07692307692307693
+EP 14 success: False; Cumulative success rate: 0.07142857142857142
+EP 15 success: False; Cumulative success rate: 0.06666666666666667
+EP 16 success: False; Cumulative success rate: 0.0625
+EP 17 success: False; Cumulative success rate: 0.058823529411764705
+EP 18 success: True; Cumulative success rate: 0.1111111111111111
+EP 19 success: True; 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: 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: False; 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: True; Cumulative success rate: 0.1875
+EP 33 success: False; Cumulative success rate: 0.18181818181818182
+EP 34 success: False; Cumulative success rate: 0.17647058823529413
+EP 35 success: False; Cumulative success rate: 0.17142857142857143
+EP 36 success: False; Cumulative success rate: 0.16666666666666666
+EP 37 success: False; Cumulative success rate: 0.16216216216216217
+EP 38 success: False; Cumulative success rate: 0.15789473684210525
+EP 39 success: True; 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: True; Cumulative success rate: 0.19047619047619047
+EP 43 success: False; Cumulative success rate: 0.18604651162790697
+EP 44 success: False; Cumulative success rate: 0.18181818181818182
+EP 45 success: False; Cumulative success rate: 0.17777777777777778
+EP 46 success: False; Cumulative success rate: 0.17391304347826086
+EP 47 success: True; Cumulative success rate: 0.19148936170212766
+EP 48 success: False; Cumulative success rate: 0.1875
+EP 49 success: False; Cumulative success rate: 0.1836734693877551
+EP 50 success: False; Cumulative success rate: 0.18
+Collecting 50 episodes took 523.96 seconds
+Results for AdjustToasterOvenTemperature:
+Success rate: 0.18
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustToasterOvenTemperature/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for AdjustWaterTemperature...
+Running 50 episodes for robocasa/AdjustWaterTemperature with 10 environments
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed!
+
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating AdjustWaterTemperature with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: 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: 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: 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: False; Cumulative success rate: 0.6363636363636364
+EP 23 success: False; Cumulative success rate: 0.6086956521739131
+EP 24 success: True; Cumulative success rate: 0.625
+EP 25 success: False; Cumulative success rate: 0.6
+EP 26 success: True; Cumulative success rate: 0.6153846153846154
+EP 27 success: False; Cumulative success rate: 0.5925925925925926
+EP 28 success: True; Cumulative success rate: 0.6071428571428571
+EP 29 success: False; Cumulative success rate: 0.5862068965517241
+EP 30 success: False; Cumulative success rate: 0.5666666666666667
+EP 31 success: True; Cumulative success rate: 0.5806451612903226
+EP 32 success: False; Cumulative success rate: 0.5625
+EP 33 success: True; Cumulative success rate: 0.5757575757575758
+EP 34 success: True; Cumulative success rate: 0.5882352941176471
+EP 35 success: True; Cumulative success rate: 0.6
+EP 36 success: False; Cumulative success rate: 0.5833333333333334
+EP 37 success: False; Cumulative success rate: 0.5675675675675675
+EP 38 success: True; Cumulative success rate: 0.5789473684210527
+EP 39 success: True; Cumulative success rate: 0.5897435897435898
+EP 40 success: True; Cumulative success rate: 0.6
+EP 41 success: True; Cumulative success rate: 0.6097560975609756
+EP 42 success: False; Cumulative success rate: 0.5952380952380952
+EP 43 success: False; Cumulative success rate: 0.5813953488372093
+EP 44 success: False; Cumulative success rate: 0.5681818181818182
+EP 45 success: False; Cumulative success rate: 0.5555555555555556
+EP 46 success: False; Cumulative success rate: 0.5434782608695652
+EP 47 success: True; Cumulative success rate: 0.5531914893617021
+EP 48 success: True; Cumulative success rate: 0.5625
+EP 49 success: True; Cumulative success rate: 0.5714285714285714
+EP 50 success: False; Cumulative success rate: 0.56
+Collecting 50 episodes took 541.38 seconds
+Results for AdjustWaterTemperature:
+Success rate: 0.56
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CloseBlenderLid...
+Running 50 episodes for robocasa/CloseBlenderLid with 10 environments
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseBlenderLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: False; Cumulative success rate: 0.0
+EP 5 success: False; Cumulative success rate: 0.0
+EP 6 success: False; Cumulative success rate: 0.0
+EP 7 success: True; Cumulative success rate: 0.14285714285714285
+EP 8 success: False; Cumulative success rate: 0.125
+EP 9 success: False; Cumulative success rate: 0.1111111111111111
+EP 10 success: False; Cumulative success rate: 0.1
+EP 11 success: False; Cumulative success rate: 0.09090909090909091
+EP 12 success: False; Cumulative success rate: 0.08333333333333333
+EP 13 success: False; Cumulative success rate: 0.07692307692307693
+EP 14 success: False; Cumulative success rate: 0.07142857142857142
+EP 15 success: False; Cumulative success rate: 0.06666666666666667
+EP 16 success: False; Cumulative success rate: 0.0625
+EP 17 success: False; Cumulative success rate: 0.058823529411764705
+EP 18 success: False; Cumulative success rate: 0.05555555555555555
+EP 19 success: False; Cumulative success rate: 0.05263157894736842
+EP 20 success: True; Cumulative success rate: 0.1
+EP 21 success: False; Cumulative success rate: 0.09523809523809523
+EP 22 success: False; Cumulative success rate: 0.09090909090909091
+EP 23 success: False; Cumulative success rate: 0.08695652173913043
+EP 24 success: False; Cumulative success rate: 0.08333333333333333
+EP 25 success: False; Cumulative success rate: 0.08
+EP 26 success: False; 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: False; Cumulative success rate: 0.06896551724137931
+EP 30 success: False; Cumulative success rate: 0.06666666666666667
+EP 31 success: False; Cumulative success rate: 0.06451612903225806
+EP 32 success: False; Cumulative success rate: 0.0625
+EP 33 success: False; Cumulative success rate: 0.06060606060606061
+EP 34 success: False; Cumulative success rate: 0.058823529411764705
+EP 35 success: False; Cumulative success rate: 0.05714285714285714
+EP 36 success: False; Cumulative success rate: 0.05555555555555555
+EP 37 success: False; Cumulative success rate: 0.05405405405405406
+EP 38 success: True; Cumulative success rate: 0.07894736842105263
+EP 39 success: False; Cumulative success rate: 0.07692307692307693
+EP 40 success: False; Cumulative success rate: 0.075
+EP 41 success: False; Cumulative success rate: 0.07317073170731707
+EP 42 success: False; Cumulative success rate: 0.07142857142857142
+EP 43 success: False; Cumulative success rate: 0.06976744186046512
+EP 44 success: False; Cumulative success rate: 0.06818181818181818
+EP 45 success: False; Cumulative success rate: 0.06666666666666667
+EP 46 success: False; Cumulative success rate: 0.06521739130434782
+EP 47 success: False; Cumulative success rate: 0.06382978723404255
+EP 48 success: False; Cumulative success rate: 0.0625
+EP 49 success: False; Cumulative success rate: 0.061224489795918366
+EP 50 success: False; Cumulative success rate: 0.06
+Collecting 50 episodes took 1040.43 seconds
+Results for CloseBlenderLid:
+Success rate: 0.06
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CloseFridge...
+Running 50 episodes for robocasa/CloseFridge with 10 environments
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseFridge with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: False; 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: False; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: False; Cumulative success rate: 0.8421052631578947
+EP 20 success: True; Cumulative success rate: 0.85
+EP 21 success: False; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: True; Cumulative success rate: 0.8333333333333334
+EP 25 success: True; Cumulative success rate: 0.84
+EP 26 success: True; Cumulative success rate: 0.8461538461538461
+EP 27 success: True; 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: False; Cumulative success rate: 0.8333333333333334
+EP 31 success: True; Cumulative success rate: 0.8387096774193549
+EP 32 success: True; Cumulative success rate: 0.84375
+EP 33 success: True; Cumulative success rate: 0.8484848484848485
+EP 34 success: True; Cumulative success rate: 0.8529411764705882
+EP 35 success: True; Cumulative success rate: 0.8571428571428571
+EP 36 success: True; Cumulative success rate: 0.8611111111111112
+EP 37 success: False; Cumulative success rate: 0.8378378378378378
+EP 38 success: False; 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: False; 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: False; Cumulative success rate: 0.7916666666666666
+EP 49 success: True; Cumulative success rate: 0.7959183673469388
+EP 50 success: True; Cumulative success rate: 0.8
+Collecting 50 episodes took 928.93 seconds
+Results for CloseFridge:
+Success rate: 0.80
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CloseToasterOvenDoor...
+Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CloseToasterOvenDoor with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: False; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: False; Cumulative success rate: 0.8235294117647058
+EP 18 success: True; Cumulative success rate: 0.8333333333333334
+EP 19 success: True; Cumulative success rate: 0.8421052631578947
+EP 20 success: False; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: True; Cumulative success rate: 0.8260869565217391
+EP 24 success: True; Cumulative success rate: 0.8333333333333334
+EP 25 success: True; Cumulative success rate: 0.84
+EP 26 success: True; Cumulative success rate: 0.8461538461538461
+EP 27 success: False; Cumulative success rate: 0.8148148148148148
+EP 28 success: False; 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: False; Cumulative success rate: 0.7419354838709677
+EP 32 success: True; Cumulative success rate: 0.75
+EP 33 success: True; Cumulative success rate: 0.7575757575757576
+EP 34 success: True; Cumulative success rate: 0.7647058823529411
+EP 35 success: True; Cumulative success rate: 0.7714285714285715
+EP 36 success: False; Cumulative success rate: 0.75
+EP 37 success: True; Cumulative success rate: 0.7567567567567568
+EP 38 success: True; Cumulative success rate: 0.7631578947368421
+EP 39 success: True; Cumulative success rate: 0.7692307692307693
+EP 40 success: False; Cumulative success rate: 0.75
+EP 41 success: 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: True; Cumulative success rate: 0.7555555555555555
+EP 46 success: True; Cumulative success rate: 0.7608695652173914
+EP 47 success: False; Cumulative success rate: 0.7446808510638298
+EP 48 success: True; Cumulative success rate: 0.75
+EP 49 success: True; Cumulative success rate: 0.7551020408163265
+EP 50 success: True; Cumulative success rate: 0.76
+Collecting 50 episodes took 480.35 seconds
+Results for CloseToasterOvenDoor:
+Success rate: 0.76
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for CoffeeSetupMug...
+Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating CoffeeSetupMug with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: True; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: True; Cumulative success rate: 0.4
+EP 11 success: True; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: 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: False; Cumulative success rate: 0.5
+EP 17 success: True; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: True; Cumulative success rate: 0.5263157894736842
+EP 20 success: False; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: False; Cumulative success rate: 0.5
+EP 23 success: False; Cumulative success rate: 0.4782608695652174
+EP 24 success: True; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: False; Cumulative success rate: 0.46153846153846156
+EP 27 success: False; Cumulative success rate: 0.4444444444444444
+EP 28 success: False; Cumulative success rate: 0.42857142857142855
+EP 29 success: True; Cumulative success rate: 0.4482758620689655
+EP 30 success: True; Cumulative success rate: 0.4666666666666667
+EP 31 success: False; 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: True; 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: False; Cumulative success rate: 0.425
+EP 41 success: False; Cumulative success rate: 0.4146341463414634
+EP 42 success: False; Cumulative success rate: 0.40476190476190477
+EP 43 success: False; Cumulative success rate: 0.3953488372093023
+EP 44 success: True; Cumulative success rate: 0.4090909090909091
+EP 45 success: False; Cumulative success rate: 0.4
+EP 46 success: False; Cumulative success rate: 0.391304347826087
+EP 47 success: False; Cumulative success rate: 0.3829787234042553
+EP 48 success: False; Cumulative success rate: 0.375
+EP 49 success: False; Cumulative success rate: 0.3673469387755102
+EP 50 success: False; Cumulative success rate: 0.36
+Collecting 50 episodes took 608.53 seconds
+Results for CoffeeSetupMug:
+Success rate: 0.36
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for NavigateKitchen...
+Running 50 episodes for robocasa/NavigateKitchen with 10 environments
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating NavigateKitchen with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: False; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: 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: True; Cumulative success rate: 0.3157894736842105
+EP 20 success: False; Cumulative success rate: 0.3
+EP 21 success: True; Cumulative success rate: 0.3333333333333333
+EP 22 success: False; Cumulative success rate: 0.3181818181818182
+EP 23 success: True; Cumulative success rate: 0.34782608695652173
+EP 24 success: True; Cumulative success rate: 0.375
+EP 25 success: False; Cumulative success rate: 0.36
+EP 26 success: True; Cumulative success rate: 0.38461538461538464
+EP 27 success: False; Cumulative success rate: 0.37037037037037035
+EP 28 success: False; Cumulative success rate: 0.35714285714285715
+EP 29 success: True; Cumulative success rate: 0.3793103448275862
+EP 30 success: True; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: True; Cumulative success rate: 0.3939393939393939
+EP 34 success: False; Cumulative success rate: 0.38235294117647056
+EP 35 success: False; Cumulative success rate: 0.37142857142857144
+EP 36 success: True; Cumulative success rate: 0.3888888888888889
+EP 37 success: False; Cumulative success rate: 0.3783783783783784
+EP 38 success: True; 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: False; Cumulative success rate: 0.3902439024390244
+EP 42 success: True; Cumulative success rate: 0.40476190476190477
+EP 43 success: True; Cumulative success rate: 0.4186046511627907
+EP 44 success: False; Cumulative success rate: 0.4090909090909091
+EP 45 success: True; Cumulative success rate: 0.4222222222222222
+EP 46 success: False; Cumulative success rate: 0.41304347826086957
+EP 47 success: False; Cumulative success rate: 0.40425531914893614
+EP 48 success: False; Cumulative success rate: 0.3958333333333333
+EP 49 success: True; Cumulative success rate: 0.40816326530612246
+EP 50 success: False; Cumulative success rate: 0.4
+Collecting 50 episodes took 481.29 seconds
+Results for NavigateKitchen:
+Success rate: 0.40
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenCabinet...
+Running 50 episodes for robocasa/OpenCabinet with 10 environments
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: False; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: False; Cumulative success rate: 0.8
+EP 11 success: 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: 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: True; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: False; Cumulative success rate: 0.75
+EP 25 success: False; Cumulative success rate: 0.72
+EP 26 success: False; Cumulative success rate: 0.6923076923076923
+EP 27 success: True; Cumulative success rate: 0.7037037037037037
+EP 28 success: 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: False; Cumulative success rate: 0.625
+EP 33 success: True; 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: False; Cumulative success rate: 0.5789473684210527
+EP 39 success: True; Cumulative success rate: 0.5897435897435898
+EP 40 success: False; Cumulative success rate: 0.575
+EP 41 success: True; Cumulative success rate: 0.5853658536585366
+EP 42 success: False; Cumulative success rate: 0.5714285714285714
+EP 43 success: False; Cumulative success rate: 0.5581395348837209
+EP 44 success: False; Cumulative success rate: 0.5454545454545454
+EP 45 success: False; Cumulative success rate: 0.5333333333333333
+EP 46 success: True; Cumulative success rate: 0.5434782608695652
+EP 47 success: False; Cumulative success rate: 0.5319148936170213
+EP 48 success: False; Cumulative success rate: 0.5208333333333334
+EP 49 success: True; Cumulative success rate: 0.5306122448979592
+EP 50 success: False; Cumulative success rate: 0.52
+Collecting 50 episodes took 1037.68 seconds
+Results for OpenCabinet:
+Success rate: 0.52
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenCabinet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenDrawer...
+Running 50 episodes for robocasa/OpenDrawer with 10 environments
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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 import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenDrawer with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: False; Cumulative success rate: 0.5
+EP 11 success: False; Cumulative success rate: 0.45454545454545453
+EP 12 success: True; Cumulative success rate: 0.5
+EP 13 success: 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: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: False; Cumulative success rate: 0.5263157894736842
+EP 20 success: True; Cumulative success rate: 0.55
+EP 21 success: True; 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: 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: True; Cumulative success rate: 0.5882352941176471
+EP 35 success: True; Cumulative success rate: 0.6
+EP 36 success: True; Cumulative success rate: 0.6111111111111112
+EP 37 success: True; Cumulative success rate: 0.6216216216216216
+EP 38 success: False; Cumulative success rate: 0.6052631578947368
+EP 39 success: True; Cumulative success rate: 0.6153846153846154
+EP 40 success: False; Cumulative success rate: 0.6
+EP 41 success: True; Cumulative success rate: 0.6097560975609756
+EP 42 success: True; Cumulative success rate: 0.6190476190476191
+EP 43 success: True; Cumulative success rate: 0.627906976744186
+EP 44 success: True; Cumulative success rate: 0.6363636363636364
+EP 45 success: False; Cumulative success rate: 0.6222222222222222
+EP 46 success: True; Cumulative success rate: 0.6304347826086957
+EP 47 success: False; Cumulative success rate: 0.6170212765957447
+EP 48 success: True; Cumulative success rate: 0.625
+EP 49 success: False; Cumulative success rate: 0.6122448979591837
+EP 50 success: False; Cumulative success rate: 0.6
+Collecting 50 episodes took 754.10 seconds
+Results for OpenDrawer:
+Success rate: 0.60
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenElectricKettleLid...
+Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenElectricKettleLid with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: True; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: False; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: False; Cumulative success rate: 0.6875
+EP 17 success: False; Cumulative success rate: 0.6470588235294118
+EP 18 success: False; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: True; Cumulative success rate: 0.65
+EP 21 success: False; Cumulative success rate: 0.6190476190476191
+EP 22 success: True; Cumulative success rate: 0.6363636363636364
+EP 23 success: True; Cumulative success rate: 0.6521739130434783
+EP 24 success: False; Cumulative success rate: 0.625
+EP 25 success: True; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: False; Cumulative success rate: 0.6296296296296297
+EP 28 success: True; Cumulative success rate: 0.6428571428571429
+EP 29 success: False; 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: False; Cumulative success rate: 0.6060606060606061
+EP 34 success: False; Cumulative success rate: 0.5882352941176471
+EP 35 success: False; Cumulative success rate: 0.5714285714285714
+EP 36 success: False; Cumulative success rate: 0.5555555555555556
+EP 37 success: True; Cumulative success rate: 0.5675675675675675
+EP 38 success: False; Cumulative success rate: 0.5526315789473685
+EP 39 success: True; Cumulative success rate: 0.5641025641025641
+EP 40 success: True; Cumulative success rate: 0.575
+EP 41 success: False; Cumulative success rate: 0.5609756097560976
+EP 42 success: True; Cumulative success rate: 0.5714285714285714
+EP 43 success: True; Cumulative success rate: 0.5813953488372093
+EP 44 success: True; Cumulative success rate: 0.5909090909090909
+EP 45 success: True; Cumulative success rate: 0.6
+EP 46 success: True; 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 316.48 seconds
+Results for OpenElectricKettleLid:
+Success rate: 0.60
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for OpenStandMixerHead...
+Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating OpenStandMixerHead with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: True; Cumulative success rate: 0.8888888888888888
+EP 10 success: True; Cumulative success rate: 0.9
+EP 11 success: True; Cumulative success rate: 0.9090909090909091
+EP 12 success: True; Cumulative success rate: 0.9166666666666666
+EP 13 success: True; Cumulative success rate: 0.9230769230769231
+EP 14 success: True; Cumulative success rate: 0.9285714285714286
+EP 15 success: True; Cumulative success rate: 0.9333333333333333
+EP 16 success: True; Cumulative success rate: 0.9375
+EP 17 success: True; Cumulative success rate: 0.9411764705882353
+EP 18 success: True; Cumulative success rate: 0.9444444444444444
+EP 19 success: True; Cumulative success rate: 0.9473684210526315
+EP 20 success: True; Cumulative success rate: 0.95
+EP 21 success: False; Cumulative success rate: 0.9047619047619048
+EP 22 success: True; Cumulative success rate: 0.9090909090909091
+EP 23 success: True; Cumulative success rate: 0.9130434782608695
+EP 24 success: True; Cumulative success rate: 0.9166666666666666
+EP 25 success: True; Cumulative success rate: 0.92
+EP 26 success: True; Cumulative success rate: 0.9230769230769231
+EP 27 success: True; Cumulative success rate: 0.9259259259259259
+EP 28 success: True; Cumulative success rate: 0.9285714285714286
+EP 29 success: True; Cumulative success rate: 0.9310344827586207
+EP 30 success: True; Cumulative success rate: 0.9333333333333333
+EP 31 success: False; 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: False; 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: True; Cumulative success rate: 0.9090909090909091
+EP 45 success: True; Cumulative success rate: 0.9111111111111111
+EP 46 success: True; Cumulative success rate: 0.9130434782608695
+EP 47 success: True; Cumulative success rate: 0.9148936170212766
+EP 48 success: True; Cumulative success rate: 0.9166666666666666
+EP 49 success: True; Cumulative success rate: 0.9183673469387755
+EP 50 success: False; Cumulative success rate: 0.9
+Collecting 50 episodes took 381.33 seconds
+Results for OpenStandMixerHead:
+Success rate: 0.90
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceCabinetToCounter...
+Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+`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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCabinetToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: False; Cumulative success rate: 0.5
+EP 13 success: True; Cumulative success rate: 0.5384615384615384
+EP 14 success: True; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: False; Cumulative success rate: 0.5
+EP 17 success: 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: 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: False; Cumulative success rate: 0.5416666666666666
+EP 25 success: False; Cumulative success rate: 0.52
+EP 26 success: True; Cumulative success rate: 0.5384615384615384
+EP 27 success: True; Cumulative success rate: 0.5555555555555556
+EP 28 success: False; Cumulative success rate: 0.5357142857142857
+EP 29 success: True; Cumulative success rate: 0.5517241379310345
+EP 30 success: False; Cumulative success rate: 0.5333333333333333
+EP 31 success: False; Cumulative success rate: 0.5161290322580645
+EP 32 success: True; Cumulative success rate: 0.53125
+EP 33 success: True; Cumulative success rate: 0.5454545454545454
+EP 34 success: False; Cumulative success rate: 0.5294117647058824
+EP 35 success: False; Cumulative success rate: 0.5142857142857142
+EP 36 success: False; Cumulative success rate: 0.5
+EP 37 success: True; Cumulative success rate: 0.5135135135135135
+EP 38 success: True; 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: True; 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: False; Cumulative success rate: 0.4888888888888889
+EP 46 success: True; Cumulative success rate: 0.5
+EP 47 success: False; Cumulative success rate: 0.48936170212765956
+EP 48 success: False; Cumulative success rate: 0.4791666666666667
+EP 49 success: True; Cumulative success rate: 0.4897959183673469
+EP 50 success: True; Cumulative success rate: 0.5
+Collecting 50 episodes took 443.94 seconds
+Results for PickPlaceCabinetToCounter:
+Success rate: 0.50
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceCounterToCabinet...
+Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since 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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToCabinet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: False; Cumulative success rate: 0.4444444444444444
+EP 10 success: 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: 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: False; Cumulative success rate: 0.4
+EP 21 success: True; Cumulative success rate: 0.42857142857142855
+EP 22 success: True; Cumulative success rate: 0.45454545454545453
+EP 23 success: 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: True; Cumulative success rate: 0.42857142857142855
+EP 29 success: False; Cumulative success rate: 0.41379310344827586
+EP 30 success: False; Cumulative success rate: 0.4
+EP 31 success: False; Cumulative success rate: 0.3870967741935484
+EP 32 success: False; Cumulative success rate: 0.375
+EP 33 success: False; Cumulative success rate: 0.36363636363636365
+EP 34 success: False; Cumulative success rate: 0.35294117647058826
+EP 35 success: True; Cumulative success rate: 0.37142857142857144
+EP 36 success: False; Cumulative success rate: 0.3611111111111111
+EP 37 success: True; Cumulative success rate: 0.3783783783783784
+EP 38 success: True; 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: True; Cumulative success rate: 0.4
+EP 46 success: True; Cumulative success rate: 0.41304347826086957
+EP 47 success: True; Cumulative success rate: 0.425531914893617
+EP 48 success: False; Cumulative success rate: 0.4166666666666667
+EP 49 success: True; Cumulative success rate: 0.42857142857142855
+EP 50 success: True; Cumulative success rate: 0.44
+Collecting 50 episodes took 808.38 seconds
+Results for PickPlaceCounterToCabinet:
+Success rate: 0.44
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceCounterToStove...
+Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). 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.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceCounterToStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: 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: 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: 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: True; 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: 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: False; Cumulative success rate: 0.3235294117647059
+EP 35 success: False; Cumulative success rate: 0.3142857142857143
+EP 36 success: False; Cumulative success rate: 0.3055555555555556
+EP 37 success: True; Cumulative success rate: 0.32432432432432434
+EP 38 success: True; 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: False; Cumulative success rate: 0.36585365853658536
+EP 42 success: False; Cumulative success rate: 0.35714285714285715
+EP 43 success: False; 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: True; Cumulative success rate: 0.3673469387755102
+EP 50 success: True; Cumulative success rate: 0.38
+Collecting 50 episodes took 734.97 seconds
+Results for PickPlaceCounterToStove:
+Success rate: 0.38
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToStove/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceDrawerToCounter...
+Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceDrawerToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: False; Cumulative success rate: 0.0
+EP 4 success: True; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: False; Cumulative success rate: 0.5
+EP 9 success: True; 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: False; Cumulative success rate: 0.5384615384615384
+EP 14 success: False; Cumulative success rate: 0.5
+EP 15 success: False; Cumulative success rate: 0.4666666666666667
+EP 16 success: True; Cumulative success rate: 0.5
+EP 17 success: True; Cumulative success rate: 0.5294117647058824
+EP 18 success: False; Cumulative success rate: 0.5
+EP 19 success: False; Cumulative success rate: 0.47368421052631576
+EP 20 success: True; Cumulative success rate: 0.5
+EP 21 success: True; Cumulative success rate: 0.5238095238095238
+EP 22 success: True; Cumulative success rate: 0.5454545454545454
+EP 23 success: False; Cumulative success rate: 0.5217391304347826
+EP 24 success: False; Cumulative success rate: 0.5
+EP 25 success: False; Cumulative success rate: 0.48
+EP 26 success: True; Cumulative success rate: 0.5
+EP 27 success: False; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: True; Cumulative success rate: 0.4666666666666667
+EP 31 success: 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: False; Cumulative success rate: 0.4411764705882353
+EP 35 success: True; Cumulative success rate: 0.45714285714285713
+EP 36 success: True; Cumulative success rate: 0.4722222222222222
+EP 37 success: False; Cumulative success rate: 0.4594594594594595
+EP 38 success: False; Cumulative success rate: 0.4473684210526316
+EP 39 success: True; Cumulative success rate: 0.46153846153846156
+EP 40 success: False; Cumulative success rate: 0.45
+EP 41 success: False; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: False; Cumulative success rate: 0.4186046511627907
+EP 44 success: True; Cumulative success rate: 0.4318181818181818
+EP 45 success: True; 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: True; Cumulative success rate: 0.4583333333333333
+EP 49 success: True; Cumulative success rate: 0.46938775510204084
+EP 50 success: False; Cumulative success rate: 0.46
+Collecting 50 episodes took 809.60 seconds
+Results for PickPlaceDrawerToCounter:
+Success rate: 0.46
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceSinkToCounter...
+Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceSinkToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: False; Cumulative success rate: 0.4
+EP 6 success: True; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: False; Cumulative success rate: 0.5555555555555556
+EP 10 success: True; Cumulative success rate: 0.6
+EP 11 success: False; Cumulative success rate: 0.5454545454545454
+EP 12 success: 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: True; Cumulative success rate: 0.6666666666666666
+EP 16 success: False; Cumulative success rate: 0.625
+EP 17 success: False; Cumulative success rate: 0.5882352941176471
+EP 18 success: True; Cumulative success rate: 0.6111111111111112
+EP 19 success: True; Cumulative success rate: 0.631578947368421
+EP 20 success: 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: 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: False; Cumulative success rate: 0.6785714285714286
+EP 29 success: False; Cumulative success rate: 0.6551724137931034
+EP 30 success: True; 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: True; Cumulative success rate: 0.625
+EP 41 success: True; Cumulative success rate: 0.6341463414634146
+EP 42 success: True; Cumulative success rate: 0.6428571428571429
+EP 43 success: False; Cumulative success rate: 0.627906976744186
+EP 44 success: True; Cumulative success rate: 0.6363636363636364
+EP 45 success: True; Cumulative success rate: 0.6444444444444445
+EP 46 success: False; Cumulative success rate: 0.6304347826086957
+EP 47 success: False; Cumulative success rate: 0.6170212765957447
+EP 48 success: True; Cumulative success rate: 0.625
+EP 49 success: True; Cumulative success rate: 0.6326530612244898
+EP 50 success: True; Cumulative success rate: 0.64
+Collecting 50 episodes took 1046.89 seconds
+Results for PickPlaceSinkToCounter:
+Success rate: 0.64
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for PickPlaceToasterToCounter...
+Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip 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!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating PickPlaceToasterToCounter with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: False; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: False; Cumulative success rate: 0.7142857142857143
+EP 8 success: True; Cumulative success rate: 0.75
+EP 9 success: True; Cumulative success rate: 0.7777777777777778
+EP 10 success: True; Cumulative success rate: 0.8
+EP 11 success: True; Cumulative success rate: 0.8181818181818182
+EP 12 success: True; Cumulative success rate: 0.8333333333333334
+EP 13 success: True; Cumulative success rate: 0.8461538461538461
+EP 14 success: True; Cumulative success rate: 0.8571428571428571
+EP 15 success: True; Cumulative success rate: 0.8666666666666667
+EP 16 success: True; Cumulative success rate: 0.875
+EP 17 success: True; Cumulative success rate: 0.8823529411764706
+EP 18 success: True; Cumulative success rate: 0.8888888888888888
+EP 19 success: False; Cumulative success rate: 0.8421052631578947
+EP 20 success: True; Cumulative success rate: 0.85
+EP 21 success: True; Cumulative success rate: 0.8571428571428571
+EP 22 success: True; Cumulative success rate: 0.8636363636363636
+EP 23 success: True; Cumulative success rate: 0.8695652173913043
+EP 24 success: True; Cumulative success rate: 0.875
+EP 25 success: True; Cumulative success rate: 0.88
+EP 26 success: True; Cumulative success rate: 0.8846153846153846
+EP 27 success: True; Cumulative success rate: 0.8888888888888888
+EP 28 success: True; Cumulative success rate: 0.8928571428571429
+EP 29 success: True; Cumulative success rate: 0.896551724137931
+EP 30 success: True; Cumulative success rate: 0.9
+EP 31 success: True; Cumulative success rate: 0.9032258064516129
+EP 32 success: True; Cumulative success rate: 0.90625
+EP 33 success: True; Cumulative success rate: 0.9090909090909091
+EP 34 success: False; Cumulative success rate: 0.8823529411764706
+EP 35 success: True; Cumulative success rate: 0.8857142857142857
+EP 36 success: False; Cumulative success rate: 0.8611111111111112
+EP 37 success: True; Cumulative success rate: 0.8648648648648649
+EP 38 success: True; Cumulative success rate: 0.868421052631579
+EP 39 success: True; Cumulative success rate: 0.8717948717948718
+EP 40 success: 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: False; Cumulative success rate: 0.8409090909090909
+EP 45 success: False; Cumulative success rate: 0.8222222222222222
+EP 46 success: True; Cumulative success rate: 0.8260869565217391
+EP 47 success: True; Cumulative success rate: 0.8297872340425532
+EP 48 success: True; Cumulative success rate: 0.8333333333333334
+EP 49 success: True; Cumulative success rate: 0.8367346938775511
+EP 50 success: True; Cumulative success rate: 0.84
+Collecting 50 episodes took 695.93 seconds
+Results for PickPlaceToasterToCounter:
+Success rate: 0.84
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for SlideDishwasherRack...
+Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating SlideDishwasherRack with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: 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: True; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: True; Cumulative success rate: 0.8
+EP 21 success: True; Cumulative success rate: 0.8095238095238095
+EP 22 success: True; Cumulative success rate: 0.8181818181818182
+EP 23 success: False; Cumulative success rate: 0.782608695652174
+EP 24 success: False; Cumulative success rate: 0.75
+EP 25 success: True; Cumulative success rate: 0.76
+EP 26 success: 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: 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: False; Cumulative success rate: 0.7647058823529411
+EP 35 success: False; Cumulative success rate: 0.7428571428571429
+EP 36 success: False; Cumulative success rate: 0.7222222222222222
+EP 37 success: True; Cumulative success rate: 0.7297297297297297
+EP 38 success: True; Cumulative success rate: 0.7368421052631579
+EP 39 success: True; Cumulative success rate: 0.7435897435897436
+EP 40 success: True; Cumulative success rate: 0.75
+EP 41 success: True; Cumulative success rate: 0.7560975609756098
+EP 42 success: True; Cumulative success rate: 0.7619047619047619
+EP 43 success: True; Cumulative success rate: 0.7674418604651163
+EP 44 success: False; Cumulative success rate: 0.75
+EP 45 success: True; Cumulative success rate: 0.7555555555555555
+EP 46 success: True; Cumulative success rate: 0.7608695652173914
+EP 47 success: False; Cumulative success rate: 0.7446808510638298
+EP 48 success: False; Cumulative success rate: 0.7291666666666666
+EP 49 success: False; Cumulative success rate: 0.7142857142857143
+EP 50 success: False; Cumulative success rate: 0.7
+Collecting 50 episodes took 541.35 seconds
+Results for SlideDishwasherRack:
+Success rate: 0.70
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOffMicrowave...
+Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: 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: True; Cumulative success rate: 0.26666666666666666
+EP 16 success: False; Cumulative success rate: 0.25
+EP 17 success: False; Cumulative success rate: 0.23529411764705882
+EP 18 success: False; Cumulative success rate: 0.2222222222222222
+EP 19 success: False; Cumulative success rate: 0.21052631578947367
+EP 20 success: True; 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: False; Cumulative success rate: 0.25925925925925924
+EP 28 success: True; Cumulative success rate: 0.2857142857142857
+EP 29 success: False; Cumulative success rate: 0.27586206896551724
+EP 30 success: False; Cumulative success rate: 0.26666666666666666
+EP 31 success: False; Cumulative success rate: 0.25806451612903225
+EP 32 success: False; Cumulative success rate: 0.25
+EP 33 success: True; Cumulative success rate: 0.2727272727272727
+EP 34 success: True; Cumulative success rate: 0.29411764705882354
+EP 35 success: False; Cumulative success rate: 0.2857142857142857
+EP 36 success: False; Cumulative success rate: 0.2777777777777778
+EP 37 success: False; Cumulative success rate: 0.2702702702702703
+EP 38 success: False; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: False; Cumulative success rate: 0.25
+EP 41 success: False; Cumulative success rate: 0.24390243902439024
+EP 42 success: False; Cumulative success rate: 0.23809523809523808
+EP 43 success: False; Cumulative success rate: 0.23255813953488372
+EP 44 success: False; Cumulative success rate: 0.22727272727272727
+EP 45 success: False; Cumulative success rate: 0.2222222222222222
+EP 46 success: False; Cumulative success rate: 0.21739130434782608
+EP 47 success: True; Cumulative success rate: 0.23404255319148937
+EP 48 success: True; Cumulative success rate: 0.25
+EP 49 success: False; Cumulative success rate: 0.24489795918367346
+EP 50 success: False; Cumulative success rate: 0.24
+Collecting 50 episodes took 370.45 seconds
+Results for TurnOffMicrowave:
+Success rate: 0.24
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOffSinkFaucet...
+Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: True; Cumulative success rate: 1.0
+EP 11 success: True; Cumulative success rate: 1.0
+EP 12 success: False; 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: False; Cumulative success rate: 0.8695652173913043
+EP 24 success: True; Cumulative success rate: 0.875
+EP 25 success: True; Cumulative success rate: 0.88
+EP 26 success: False; Cumulative success rate: 0.8461538461538461
+EP 27 success: True; 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: True; 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: False; Cumulative success rate: 0.8695652173913043
+EP 47 success: True; Cumulative success rate: 0.8723404255319149
+EP 48 success: True; Cumulative success rate: 0.875
+EP 49 success: True; Cumulative success rate: 0.8775510204081632
+EP 50 success: False; Cumulative success rate: 0.86
+Collecting 50 episodes took 390.75 seconds
+Results for TurnOffSinkFaucet:
+Success rate: 0.86
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOffStove...
+Running 50 episodes for robocasa/TurnOffStove with 10 environments
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOffStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: True; Cumulative success rate: 0.42857142857142855
+EP 8 success: False; Cumulative success rate: 0.375
+EP 9 success: False; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: True; Cumulative success rate: 0.36363636363636365
+EP 12 success: True; Cumulative success rate: 0.4166666666666667
+EP 13 success: False; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: False; Cumulative success rate: 0.3333333333333333
+EP 16 success: False; Cumulative success rate: 0.3125
+EP 17 success: True; Cumulative success rate: 0.35294117647058826
+EP 18 success: False; Cumulative success rate: 0.3333333333333333
+EP 19 success: True; Cumulative success rate: 0.3684210526315789
+EP 20 success: True; Cumulative success rate: 0.4
+EP 21 success: False; Cumulative success rate: 0.38095238095238093
+EP 22 success: False; Cumulative success rate: 0.36363636363636365
+EP 23 success: False; Cumulative success rate: 0.34782608695652173
+EP 24 success: False; Cumulative success rate: 0.3333333333333333
+EP 25 success: False; Cumulative success rate: 0.32
+EP 26 success: False; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: True; Cumulative success rate: 0.32142857142857145
+EP 29 success: False; Cumulative success rate: 0.3103448275862069
+EP 30 success: 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: False; Cumulative success rate: 0.25
+EP 37 success: False; Cumulative success rate: 0.24324324324324326
+EP 38 success: True; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: False; Cumulative success rate: 0.25
+EP 41 success: False; Cumulative success rate: 0.24390243902439024
+EP 42 success: True; Cumulative success rate: 0.2619047619047619
+EP 43 success: False; Cumulative success rate: 0.2558139534883721
+EP 44 success: False; Cumulative success rate: 0.25
+EP 45 success: False; Cumulative success rate: 0.24444444444444444
+EP 46 success: False; Cumulative success rate: 0.2391304347826087
+EP 47 success: True; Cumulative success rate: 0.2553191489361702
+EP 48 success: True; Cumulative success rate: 0.2708333333333333
+EP 49 success: True; Cumulative success rate: 0.2857142857142857
+EP 50 success: False; Cumulative success rate: 0.28
+Collecting 50 episodes took 623.46 seconds
+Results for TurnOffStove:
+Success rate: 0.28
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnElectricKettle...
+Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnElectricKettle with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: False; Cumulative success rate: 0.5
+EP 7 success: True; Cumulative success rate: 0.5714285714285714
+EP 8 success: True; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: False; Cumulative success rate: 0.6
+EP 11 success: True; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: True; Cumulative success rate: 0.6923076923076923
+EP 14 success: True; Cumulative success rate: 0.7142857142857143
+EP 15 success: True; Cumulative success rate: 0.7333333333333333
+EP 16 success: True; Cumulative success rate: 0.75
+EP 17 success: True; Cumulative success rate: 0.7647058823529411
+EP 18 success: True; Cumulative success rate: 0.7777777777777778
+EP 19 success: True; Cumulative success rate: 0.7894736842105263
+EP 20 success: False; Cumulative success rate: 0.75
+EP 21 success: True; Cumulative success rate: 0.7619047619047619
+EP 22 success: True; Cumulative success rate: 0.7727272727272727
+EP 23 success: True; Cumulative success rate: 0.782608695652174
+EP 24 success: True; Cumulative success rate: 0.7916666666666666
+EP 25 success: True; Cumulative success rate: 0.8
+EP 26 success: False; 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: True; Cumulative success rate: 0.7931034482758621
+EP 30 success: True; Cumulative success rate: 0.8
+EP 31 success: True; Cumulative success rate: 0.8064516129032258
+EP 32 success: True; Cumulative success rate: 0.8125
+EP 33 success: False; Cumulative success rate: 0.7878787878787878
+EP 34 success: False; 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: True; Cumulative success rate: 0.775
+EP 41 success: True; Cumulative success rate: 0.7804878048780488
+EP 42 success: True; Cumulative success rate: 0.7857142857142857
+EP 43 success: True; Cumulative success rate: 0.7906976744186046
+EP 44 success: True; 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: False; Cumulative success rate: 0.7916666666666666
+EP 49 success: False; Cumulative success rate: 0.7755102040816326
+EP 50 success: True; Cumulative success rate: 0.78
+Collecting 50 episodes took 605.79 seconds
+Results for TurnOnElectricKettle:
+Success rate: 0.78
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnMicrowave...
+Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnMicrowave with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: False; Cumulative success rate: 0.0
+EP 2 success: False; Cumulative success rate: 0.0
+EP 3 success: True; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: True; Cumulative success rate: 0.4
+EP 6 success: False; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: False; Cumulative success rate: 0.2222222222222222
+EP 10 success: False; Cumulative success rate: 0.2
+EP 11 success: False; Cumulative success rate: 0.18181818181818182
+EP 12 success: False; Cumulative success rate: 0.16666666666666666
+EP 13 success: 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: True; Cumulative success rate: 0.25
+EP 17 success: True; Cumulative success rate: 0.29411764705882354
+EP 18 success: False; Cumulative success rate: 0.2777777777777778
+EP 19 success: 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: 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: False; Cumulative success rate: 0.3
+EP 31 success: True; Cumulative success rate: 0.3225806451612903
+EP 32 success: False; 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: False; Cumulative success rate: 0.2702702702702703
+EP 38 success: False; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: False; Cumulative success rate: 0.25
+EP 41 success: False; Cumulative success rate: 0.24390243902439024
+EP 42 success: False; Cumulative success rate: 0.23809523809523808
+EP 43 success: False; Cumulative success rate: 0.23255813953488372
+EP 44 success: False; Cumulative success rate: 0.22727272727272727
+EP 45 success: False; Cumulative success rate: 0.2222222222222222
+EP 46 success: False; Cumulative success rate: 0.21739130434782608
+EP 47 success: False; Cumulative success rate: 0.2127659574468085
+EP 48 success: False; Cumulative success rate: 0.20833333333333334
+EP 49 success: False; Cumulative success rate: 0.20408163265306123
+EP 50 success: False; Cumulative success rate: 0.2
+Collecting 50 episodes took 530.56 seconds
+Results for TurnOnMicrowave:
+Success rate: 0.20
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnMicrowave/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnSinkFaucet...
+Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnSinkFaucet with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: True; Cumulative success rate: 0.8
+EP 6 success: True; Cumulative success rate: 0.8333333333333334
+EP 7 success: True; Cumulative success rate: 0.8571428571428571
+EP 8 success: True; Cumulative success rate: 0.875
+EP 9 success: False; Cumulative success rate: 0.7777777777777778
+EP 10 success: False; Cumulative success rate: 0.7
+EP 11 success: 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: False; 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: True; Cumulative success rate: 0.6842105263157895
+EP 20 success: False; Cumulative success rate: 0.65
+EP 21 success: True; Cumulative success rate: 0.6666666666666666
+EP 22 success: True; Cumulative success rate: 0.6818181818181818
+EP 23 success: False; Cumulative success rate: 0.6521739130434783
+EP 24 success: True; Cumulative success rate: 0.6666666666666666
+EP 25 success: False; Cumulative success rate: 0.64
+EP 26 success: True; Cumulative success rate: 0.6538461538461539
+EP 27 success: False; Cumulative success rate: 0.6296296296296297
+EP 28 success: 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: 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: True; Cumulative success rate: 0.6756756756756757
+EP 38 success: True; Cumulative success rate: 0.6842105263157895
+EP 39 success: False; Cumulative success rate: 0.6666666666666666
+EP 40 success: True; Cumulative success rate: 0.675
+EP 41 success: True; Cumulative success rate: 0.6829268292682927
+EP 42 success: 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: False; 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: True; Cumulative success rate: 0.68
+Collecting 50 episodes took 647.68 seconds
+Results for TurnOnSinkFaucet:
+Success rate: 0.68
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnOnStove...
+Running 50 episodes for robocasa/TurnOnStove with 10 environments
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnOnStove with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: False; Cumulative success rate: 0.6666666666666666
+EP 4 success: False; Cumulative success rate: 0.5
+EP 5 success: 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: True; Cumulative success rate: 0.36363636363636365
+EP 12 success: False; Cumulative success rate: 0.3333333333333333
+EP 13 success: True; Cumulative success rate: 0.38461538461538464
+EP 14 success: False; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: False; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: True; Cumulative success rate: 0.3888888888888889
+EP 19 success: 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: True; Cumulative success rate: 0.37037037037037035
+EP 28 success: True; Cumulative success rate: 0.39285714285714285
+EP 29 success: False; Cumulative success rate: 0.3793103448275862
+EP 30 success: False; Cumulative success rate: 0.36666666666666664
+EP 31 success: False; Cumulative success rate: 0.3548387096774194
+EP 32 success: False; 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: True; Cumulative success rate: 0.39473684210526316
+EP 39 success: False; Cumulative success rate: 0.38461538461538464
+EP 40 success: False; Cumulative success rate: 0.375
+EP 41 success: True; Cumulative success rate: 0.3902439024390244
+EP 42 success: True; 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: True; Cumulative success rate: 0.4
+EP 46 success: False; Cumulative success rate: 0.391304347826087
+EP 47 success: True; Cumulative success rate: 0.40425531914893614
+EP 48 success: True; Cumulative success rate: 0.4166666666666667
+EP 49 success: False; Cumulative success rate: 0.40816326530612246
+EP 50 success: False; Cumulative success rate: 0.4
+Collecting 50 episodes took 484.26 seconds
+Results for TurnOnStove:
+Success rate: 0.40
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+Running simulation for TurnSinkSpout...
+Running 50 episodes for robocasa/TurnSinkSpout with 10 environments
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/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/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Creating TurnSinkSpout with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:159: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: True; Cumulative success rate: 1.0
+EP 3 success: True; Cumulative success rate: 1.0
+EP 4 success: True; Cumulative success rate: 1.0
+EP 5 success: True; Cumulative success rate: 1.0
+EP 6 success: True; Cumulative success rate: 1.0
+EP 7 success: True; Cumulative success rate: 1.0
+EP 8 success: True; Cumulative success rate: 1.0
+EP 9 success: True; Cumulative success rate: 1.0
+EP 10 success: True; Cumulative success rate: 1.0
+EP 11 success: True; Cumulative success rate: 1.0
+EP 12 success: True; Cumulative success rate: 1.0
+EP 13 success: True; Cumulative success rate: 1.0
+EP 14 success: True; Cumulative success rate: 1.0
+EP 15 success: True; Cumulative success rate: 1.0
+EP 16 success: True; Cumulative success rate: 1.0
+EP 17 success: True; Cumulative success rate: 1.0
+EP 18 success: True; Cumulative success rate: 1.0
+EP 19 success: True; Cumulative success rate: 1.0
+EP 20 success: True; Cumulative success rate: 1.0
+EP 21 success: True; Cumulative success rate: 1.0
+EP 22 success: True; Cumulative success rate: 1.0
+EP 23 success: True; Cumulative success rate: 1.0
+EP 24 success: True; Cumulative success rate: 1.0
+EP 25 success: True; Cumulative success rate: 1.0
+EP 26 success: True; Cumulative success rate: 1.0
+EP 27 success: True; Cumulative success rate: 1.0
+EP 28 success: True; Cumulative success rate: 1.0
+EP 29 success: True; Cumulative success rate: 1.0
+EP 30 success: True; Cumulative success rate: 1.0
+EP 31 success: True; Cumulative success rate: 1.0
+EP 32 success: True; Cumulative success rate: 1.0
+EP 33 success: True; Cumulative success rate: 1.0
+EP 34 success: True; Cumulative success rate: 1.0
+EP 35 success: True; Cumulative success rate: 1.0
+EP 36 success: True; Cumulative success rate: 1.0
+EP 37 success: True; Cumulative success rate: 1.0
+EP 38 success: True; Cumulative success rate: 1.0
+EP 39 success: True; Cumulative success rate: 1.0
+EP 40 success: True; Cumulative success rate: 1.0
+EP 41 success: True; Cumulative success rate: 1.0
+EP 42 success: True; Cumulative success rate: 1.0
+EP 43 success: True; Cumulative success rate: 1.0
+EP 44 success: True; Cumulative success rate: 1.0
+EP 45 success: True; Cumulative success rate: 1.0
+EP 46 success: False; Cumulative success rate: 0.9782608695652174
+EP 47 success: False; Cumulative success rate: 0.9574468085106383
+EP 48 success: True; Cumulative success rate: 0.9583333333333334
+EP 49 success: True; Cumulative success rate: 0.9591836734693877
+EP 50 success: True; Cumulative success rate: 0.96
+Collecting 50 episodes took 407.91 seconds
+Results for TurnSinkSpout:
+Success rate: 0.96
+saved stats to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/stats.json
+saved episode results to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/evals/pretrain/TurnSinkSpout/episode_results.json
+saved episode seed manifest to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/eval_manifest.json
+
+/home/ext_minje/miniforge3/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/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide
+  ret = ret.dtype.type(ret / rcount)
+Eval metadata
+- total_eval_time: 4h 30m 54s (16253.99s)
+- model_path: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default
+- video_dir: /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- episode_seed_start: None
+- episode_seed_manifest: /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/eval_seed42.json
+- episode_manifest_output: None
+- command: my_scripts/run_eval.py --model_path /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/phase3 --video_dir /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4935 --seed 42 --episode_seed_manifest /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/eval_seed42.json
+- config_yaml_candidates:
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/rkd_v2_1_da.yaml
+- selected_config_yaml: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/resolved_config.yaml
+- copied_config_yamls:
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/rkd_v2_1_da.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 6 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 76 | None
+CoffeeSetupMug: 36 | None
+NavigateKitchen: 40 | None
+OpenCabinet: 52 | None
+OpenDrawer: 60 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 44 | None
+PickPlaceCounterToStove: 38 | None
+PickPlaceDrawerToCounter: 46 | None
+PickPlaceSinkToCounter: 64 | None
+PickPlaceToasterToCounter: 84 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 78 | None
+TurnOnMicrowave: 20 | None
+TurnOffMicrowave: 24 | None
+OpenElectricKettleLid: 60 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 68 | None
+TurnSinkSpout: 96 | None
+TurnOffSinkFaucet: 86 | None
+AdjustWaterTemperature: 56 | None
+TurnOffStove: 28 | None
+TurnOnStove: 40 | None
+AdjustToasterOvenTemperature: 18 | None
+AVG: 54.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED
+saved eval stats report to /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/summary.txt
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/pids/seed42_my_atomic26_nenv10.pid b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/pids/seed42_my_atomic26_nenv10.pid
new file mode 100644
index 0000000000000000000000000000000000000000..987419c2f7640906f598430e04958c63fb829eaa
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/pids/seed42_my_atomic26_nenv10.pid	
@@ -0,0 +1 @@
+2314584
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/eval_manifest.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/eval_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccc55fb136996f80823b08fc23d16de06e7b79ab
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/eval_manifest.json	
@@ -0,0 +1,11763 @@
+{
+  "version": 1,
+  "split": "pretrain",
+  "task_set": [
+    "my_atomic26"
+  ],
+  "n_episodes_per_task": 50,
+  "episode_seed_start": 42,
+  "tasks": {
+    "AdjustToasterOvenTemperature": [
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Decrease the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Increase the toaster oven temperature.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "AdjustToasterOvenTemperature",
+        "episode_idx": 3,
+        "seed": 45,
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+        "reward": 0.0
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+    "PickPlaceCabinetToCounter": [
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+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 43,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
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+      },
+      {
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+        "description": "Pick the egg from the cabinet and place it on the counter.",
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+      },
+      {
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+        "description": "Pick the honey bottle from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 46,
+        "description": "Pick the sponge from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 47,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
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+      },
+      {
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+        "description": "Pick the bar soap from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "description": "Pick the pear from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 50,
+        "description": "Pick the peach from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 51,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 52,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 53,
+        "description": "Pick the ketchup from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 54,
+        "description": "Pick the croissant from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 55,
+        "description": "Pick the yogurt from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 56,
+        "description": "Pick the potato from the cabinet and place it on the counter.",
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+        "reward": 0.0
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+        "seed": 57,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
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+        "reward": 0.0
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+        "seed": 58,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
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+      },
+      {
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+        "description": "Pick the measuring cup from the cabinet and place it on the counter.",
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+      },
+      {
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+        "description": "Pick the kettle from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 62,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 63,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
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+      },
+      {
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+        "seed": 64,
+        "description": "Pick the chicken drumstick from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 65,
+        "description": "Pick the onion from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 66,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
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+        "reward": 0.0
+      },
+      {
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+        "seed": 67,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
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+        "reward": 20.0
+      },
+      {
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+        "seed": 68,
+        "description": "Pick the kiwi from the cabinet and place it on the counter.",
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+        "reward": 20.0
+      },
+      {
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+        "seed": 69,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
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+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": true,
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+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the tupperware from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the eggplant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0
+      }
+    ],
+    "PickPlaceCounterToCabinet": [
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the avocado from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the honey bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the spray from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the tongs from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the candle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peach from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the boxed food from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the wine from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the bowl from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the pot from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the can from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the donut from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sugar cube from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the ice cube from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 31.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 20.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 22.0
+      },
+      {
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the bar soap from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0
+      }
+    ],
+    "PickPlaceCounterToStove": [
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+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the lemon wedge from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the potato from the plate and place it in the pan.",
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+        "length": 38,
+        "reward": 9.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the lime from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the egg from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the fish from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the bell pepper from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the shrimp from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the hotdog bun from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the eggplant from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the sweet potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the bell pepper from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the carrot from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the mushroom from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the cream cheese stick from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the broccoli from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the lime from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the mango from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the egg from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the garlic from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 14.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the chicken drumstick from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the steak from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the tomato from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the hot dog from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the mushroom from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the chicken drumstick from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the corn from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the sweet potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the eggplant from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the potato from the plate and place it in the pan.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the shrimp from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 29.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the onion from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceCounterToStove",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the apple from the plate and place it in the pan.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0
+      }
+    ],
+    "PickPlaceDrawerToCounter": [
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 25.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 14.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 18.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 31.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 29.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 29.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 23.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 31.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 32.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 9.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 25.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 23.0
+      },
+      {
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0
+      }
+    ],
+    "PickPlaceSinkToCounter": [
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the cucumber from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 39.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the pear from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the avocado from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the cream cheese stick from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 31.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the bell pepper from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the apple from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 27.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the fish from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 41.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the tangerine from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0
+      },
+      {
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0
+      }
+    ],
+    "PickPlaceToasterToCounter": [
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+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
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+        "reward": 26.0
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+      {
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+        "reward": 26.0
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+        "episode_idx": 2,
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+        "reward": 26.0
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+        "seed": 45,
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+        "success": false,
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+        "reward": 0.0
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+      {
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+        "seed": 46,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0
+      },
+      {
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+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 24.0
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+        "seed": 48,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 0.0
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+        "seed": 49,
+        "description": "Place the toasted item on a plate.",
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+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 23.0
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+        "description": "Place the toasted item on a plate.",
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+        "reward": 27.0
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+      {
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+        "seed": 52,
+        "description": "Place the toasted item on a plate.",
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+      {
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+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 25.0
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+        "seed": 54,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 24.0
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+        "reward": 23.0
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+        "reward": 0.0
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+        "description": "Place the toasted item on a plate.",
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+        "description": "Place the toasted item on a plate.",
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+        "reward": 27.0
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+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 21.0
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+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 25.0
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+        "seed": 66,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 25.0
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+        "episode_idx": 25,
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+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 9.0
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+        "reward": 26.0
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+        "seed": 70,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 23.0
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+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 25.0
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+      {
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+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 25.0
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+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
+      },
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+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 27.0
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+      {
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+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Place the toasted item on a plate.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
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+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 28.0
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+        "seed": 77,
+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 0.0
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+      {
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+        "seed": 78,
+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 25.0
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+      {
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+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Place the toasted item on a plate.",
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+        "reward": 26.0
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+        "description": "Place the toasted item on a plate.",
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+        "reward": 20.0
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+        "seed": 81,
+        "description": "Place the toasted item on a plate.",
+        "success": false,
+        "length": 38,
+        "reward": 0.0
+      },
+      {
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+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
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+        "reward": 19.0
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+      {
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 25.0
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+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 23.0
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+      {
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+        "success": false,
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+        "reward": 0.0
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+        "reward": 0.0
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+        "seed": 87,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 26.0
+      },
+      {
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Place the toasted item on a plate.",
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+        "length": 38,
+        "reward": 24.0
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+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 19.0
+      },
+      {
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 17.0
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+      {
+        "task_name": "PickPlaceToasterToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Place the toasted item on a plate.",
+        "success": true,
+        "length": 38,
+        "reward": 24.0
+      }
+    ],
+    "SlideDishwasherRack": [
+      {
+        "task_name": "SlideDishwasherRack",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Fully slide the top dishwasher rack in.",
+        "success": true,
+        "length": 29,
+        "reward": 17.0
+      },
+      {
+        "task_name": "SlideDishwasherRack",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Fully slide the top dishwasher rack out.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0
+      },
+      {
+        "task_name": "SlideDishwasherRack",
+        "episode_idx": 2,
+        "seed": 44,
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+        "description": "Press down the lever to turn on the electric kettle.",
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+        "description": "Press down the lever to turn on the electric kettle.",
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+        "task_name": "TurnOnMicrowave",
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+        "reward": 0.0
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the left.",
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+        "reward": 16.0
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+        "description": "Turn the sink spout to the right.",
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+        "description": "Turn the sink spout to the right.",
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+        "reward": 0.0
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+      {
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+        "description": "Turn the sink spout to the left.",
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+        "description": "Turn the sink spout to the left.",
+        "success": true,
+        "length": 19,
+        "reward": 15.0
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78441b1846c82f1c2a6daf17cae7f89094b1f0f
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json	
@@ -0,0 +1,602 @@
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b39a4e61abf29ea1ffd990fe4ffa7554d2dfad
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..e664e06e84e9a00f558b3f60ec348876718b4206
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/episode_results.json	
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f95c91ec43bedb348cb1084ad17d5396615769
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/stats.json	
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf06013e6ba35f2517cf6b1f25f1e5f193af377
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseFridge/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6de358eb969e1106b1f415b499613a1fa00ebb
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0cf6fc2768cb1c345fb81922c49186500fe7f25
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/stats.json	
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+            "reward": 20.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
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+            "seed": 91,
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+            "reward": 18.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf13c99e1ae88c15461deb570b27039602cd9255
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b80920a0eb47ed824b85e021194c0cb5e18319d
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..3786f5ff1c3836d1223a8406ae128c7ea55a0229
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json	
@@ -0,0 +1,602 @@
+[
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..550f89ad15962567f7d0b7556d4ac2c2b3726942
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json	
@@ -0,0 +1,606 @@
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+            "description": "Navigate to the dishwasher.",
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+            "description": "Navigate to the stove.",
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+            "seed": 91,
+            "description": "Navigate to the coffee machine.",
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+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..8148bc8ddea6b38764c1c195fd47a5323ebd7c93
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json	
@@ -0,0 +1,602 @@
+[
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ec790c99c228cd84a9edffe96d330e8e51b365
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json	
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..701365cd003fa6eafb40b99825a2bb1c1718d067
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json	
@@ -0,0 +1,602 @@
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diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f168df3e0cff4e4a2ac5af2b2608bd000ab804f
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json	
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91ade81b29680bd3b361f2826783ad6ae228e2f
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6475ae6c6fb407dfde7afd6a3cafcddb91152e
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json	
@@ -0,0 +1,606 @@
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+            "seed": 86,
+            "description": "Open the stand mixer head.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "OpenStandMixerHead",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Open the stand mixer head.",
+            "success": true,
+            "length": 29,
+            "reward": 23.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "OpenStandMixerHead",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Open the stand mixer head.",
+            "success": true,
+            "length": 29,
+            "reward": 24.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "OpenStandMixerHead",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Open the stand mixer head.",
+            "success": true,
+            "length": 29,
+            "reward": 25.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "OpenStandMixerHead",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Open the stand mixer head.",
+            "success": true,
+            "length": 29,
+            "reward": 24.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "OpenStandMixerHead",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Open the stand mixer head.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..4232ed00fac340fff2759ddf51ad63a1aee1a0d8
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 24.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the egg from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 4.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the honey bottle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the sponge from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the bar soap from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the pear from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peach from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the ketchup from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 18.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the potato from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 17.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the chicken drumstick from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the tupperware from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the bread from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 16.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 20.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the cabinet and place it on the counter.",
+        "success": false,
+        "length": 29,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 49,
+        "task_name": "PickPlaceCabinetToCounter",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the eggplant from the cabinet and place it on the counter.",
+        "success": true,
+        "length": 29,
+        "reward": 19.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dac9cd01e296bf1e7522fb50b865ad62ed98fe05
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/stats.json	
@@ -0,0 +1,606 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.5,
+    "episodes": [
+        {
+            "completion_order": 0,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 0,
+            "seed": 42,
+            "description": "Pick the dish brush from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 24.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 1,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 1,
+            "seed": 43,
+            "description": "Pick the apple from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 2,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 2,
+            "seed": 44,
+            "description": "Pick the egg from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 4.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 3,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 3,
+            "seed": 45,
+            "description": "Pick the honey bottle from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 4,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 4,
+            "seed": 46,
+            "description": "Pick the sponge from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 5,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 5,
+            "seed": 47,
+            "description": "Pick the blender jug from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 6,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 6,
+            "seed": 48,
+            "description": "Pick the bar soap from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 7,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 7,
+            "seed": 49,
+            "description": "Pick the pear from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 8,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 8,
+            "seed": 50,
+            "description": "Pick the peach from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 9,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 9,
+            "seed": 51,
+            "description": "Pick the cheese from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 18.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 10,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 10,
+            "seed": 52,
+            "description": "Pick the jug from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 11,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 11,
+            "seed": 53,
+            "description": "Pick the ketchup from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 12,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 12,
+            "seed": 54,
+            "description": "Pick the croissant from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 13,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 13,
+            "seed": 55,
+            "description": "Pick the yogurt from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 18.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 14,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 14,
+            "seed": 56,
+            "description": "Pick the potato from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 15,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 15,
+            "seed": 57,
+            "description": "Pick the jug from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 16,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 16,
+            "seed": 58,
+            "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 17,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 17,
+            "seed": 59,
+            "description": "Pick the measuring cup from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 18,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 18,
+            "seed": 60,
+            "description": "Pick the kettle from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 19,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 19,
+            "seed": 61,
+            "description": "Pick the turmeric from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 17.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 20,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 20,
+            "seed": 62,
+            "description": "Pick the apple from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 21,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 21,
+            "seed": 63,
+            "description": "Pick the sweet potato from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 22,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 22,
+            "seed": 64,
+            "description": "Pick the chicken drumstick from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 23,
+            "seed": 65,
+            "description": "Pick the onion from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 24,
+            "seed": 66,
+            "description": "Pick the blender jug from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 25,
+            "seed": 67,
+            "description": "Pick the shrimp from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 26,
+            "seed": 68,
+            "description": "Pick the kiwi from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 27,
+            "seed": 69,
+            "description": "Pick the bread from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 28,
+            "seed": 70,
+            "description": "Pick the water bottle from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 29,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 29,
+            "seed": 71,
+            "description": "Pick the water bottle from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 30,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 30,
+            "seed": 72,
+            "description": "Pick the straw from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 31,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 31,
+            "seed": 73,
+            "description": "Pick the paprika from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 32,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 32,
+            "seed": 74,
+            "description": "Pick the mustard from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 33,
+            "seed": 75,
+            "description": "Pick the corn from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 34,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Pick the corn from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Pick the tupperware from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Pick the bread from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 37,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Pick the garlic from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 38,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Pick the cheese from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 39,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Pick the bar from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Pick the broccoli from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 16.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Pick the shrimp from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Pick the juice from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Pick the straw from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Pick the cream cheese stick from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Pick the steak from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the steak from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the salt/pepper shaker from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the turmeric from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the eggplant from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb718aed4bc1a15e827f5c01f846307961bc6e98
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the dish brush from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the avocado from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the honey bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the spray from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the tongs from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the candle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peach from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the boxed food from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the croissant from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the yogurt from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the wine from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the bowl from the counter and place it in the cabinet.",
+        "success": false,
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+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the pot from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+        "success": true,
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+        "reward": 35.0,
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+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the sweet potato from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the apple from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the onion from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the blender jug from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the kiwi from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the can from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the donut from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the water bottle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the paprika from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the mustard from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the corn from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sugar cube from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the ice cube from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 34.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the garlic from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 31.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the cheese from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the bar from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the broccoli from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the shrimp from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the juice from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the straw from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the cream cheese stick from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the steak from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 20.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the salt/pepper shaker from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the turmeric from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 22.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 49,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 49,
+        "seed": 91,
+        "description": "Pick the bar soap from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 36.0,
+        "env_idx": 9,
+        "video_path": null
+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1978ee077d320219e31a755038a102f0752302a6
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json	
@@ -0,0 +1,606 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.44,
+    "episodes": [
+        {
+            "completion_order": 0,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 0,
+            "seed": 42,
+            "description": "Pick the dish brush from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 1,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 1,
+            "seed": 43,
+            "description": "Pick the apple from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 2,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 2,
+            "seed": 44,
+            "description": "Pick the avocado from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 3,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 3,
+            "seed": 45,
+            "description": "Pick the honey bottle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 4,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 4,
+            "seed": 46,
+            "description": "Pick the spray from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 5,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 5,
+            "seed": 47,
+            "description": "Pick the tongs from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 6,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 6,
+            "seed": 48,
+            "description": "Pick the turmeric from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 34.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 7,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 7,
+            "seed": 49,
+            "description": "Pick the candle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 8,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 8,
+            "seed": 50,
+            "description": "Pick the peach from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 9,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 9,
+            "seed": 51,
+            "description": "Pick the kiwi from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 10,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 10,
+            "seed": 52,
+            "description": "Pick the jug from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 11,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 11,
+            "seed": 53,
+            "description": "Pick the boxed food from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 12,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 12,
+            "seed": 54,
+            "description": "Pick the croissant from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 13,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 13,
+            "seed": 55,
+            "description": "Pick the yogurt from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 14,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 14,
+            "seed": 56,
+            "description": "Pick the wine from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 15,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 15,
+            "seed": 57,
+            "description": "Pick the bowl from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 16,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 16,
+            "seed": 58,
+            "description": "Pick the pot from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 17,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 17,
+            "seed": 59,
+            "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 18,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 18,
+            "seed": 60,
+            "description": "Pick the kettle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 19,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 19,
+            "seed": 61,
+            "description": "Pick the turmeric from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 20,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 20,
+            "seed": 62,
+            "description": "Pick the apple from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 21,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 21,
+            "seed": 63,
+            "description": "Pick the sweet potato from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 22,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 22,
+            "seed": 64,
+            "description": "Pick the apple from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 23,
+            "seed": 65,
+            "description": "Pick the onion from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 24,
+            "seed": 66,
+            "description": "Pick the blender jug from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 25,
+            "seed": 67,
+            "description": "Pick the shrimp from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 26,
+            "seed": 68,
+            "description": "Pick the kiwi from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 27,
+            "seed": 69,
+            "description": "Pick the can from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 28,
+            "seed": 70,
+            "description": "Pick the donut from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 29,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 29,
+            "seed": 71,
+            "description": "Pick the water bottle from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 30,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 30,
+            "seed": 72,
+            "description": "Pick the straw from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 31,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 31,
+            "seed": 73,
+            "description": "Pick the paprika from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 32,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 32,
+            "seed": 74,
+            "description": "Pick the mustard from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 33,
+            "seed": 75,
+            "description": "Pick the corn from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 34,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Pick the corn from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Pick the sugar cube from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Pick the ice cube from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 34.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 37,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Pick the garlic from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 31.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 38,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Pick the cheese from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 39,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Pick the bar from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Pick the broccoli from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Pick the shrimp from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Pick the juice from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Pick the straw from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Pick the cream cheese stick from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 33.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Pick the steak from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 35.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the steak from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 20.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the salt/pepper shaker from the counter and place it in the cabinet.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the turmeric from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 22.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceCounterToCabinet",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the bar soap from the counter and place it in the cabinet.",
+            "success": true,
+            "length": 47,
+            "reward": 36.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a20212374eb07cbcd8ef28a8b21c53dd82a0ca
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 25.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 14.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the pizza cutter from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 18.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 31.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the measuring cup from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 29.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the rolling pin from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 27.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the ladle from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 33.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the tongs from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the peeler from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the dish brush from the drawer and place it on the counter.",
+        "success": true,
+        "length": 47,
+        "reward": 29.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceDrawerToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the whisk from the drawer and place it on the counter.",
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa5ed31d77d353152190859e08bd6023581809
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json	
@@ -0,0 +1,606 @@
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+            "seed": 82,
+            "description": "Pick the dish brush from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Pick the dish brush from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Pick the tongs from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 27.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Pick the ladle from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 9.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Pick the tongs from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 25.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Pick the whisk from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the wooden spoon from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 27.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the ladle from the drawer and place it on the counter.",
+            "success": true,
+            "length": 47,
+            "reward": 23.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceDrawerToCounter",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the peeler from the drawer and place it on the counter.",
+            "success": false,
+            "length": 47,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..32fefa793da1649e2147944ef1d89ab9227ac213
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceSinkToCounter/episode_results.json	
@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 0,
+        "seed": 42,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 1,
+        "seed": 43,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 47.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 2,
+        "seed": 44,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 3,
+        "seed": 45,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 4,
+        "seed": 46,
+        "description": "Pick the cucumber from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick the broccoli from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 39.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 6,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 6,
+        "seed": 48,
+        "description": "Pick the pear from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 7,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 7,
+        "seed": 49,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 8,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 8,
+        "seed": 50,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 9,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 9,
+        "seed": 51,
+        "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 10,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 10,
+        "seed": 52,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 11,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 11,
+        "seed": 53,
+        "description": "Pick the avocado from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 12,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 13,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 13,
+        "seed": 55,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 14,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 14,
+        "seed": 56,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 46.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 15,
+        "seed": 57,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 16,
+        "seed": 58,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the chicken drumstick from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 19,
+        "seed": 61,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 20,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 20,
+        "seed": 62,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 21,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 21,
+        "seed": 63,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 22,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 22,
+        "seed": 64,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 23,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 23,
+        "seed": 65,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 24,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 24,
+        "seed": 66,
+        "description": "Pick the cream cheese stick from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 25,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 26,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 26,
+        "seed": 68,
+        "description": "Pick the lemon wedge from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 31.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 27,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 27,
+        "seed": 69,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 28,
+        "seed": 70,
+        "description": "Pick the garlic from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick the potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick the tomato from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick the bell pepper from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick the shrimp from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick the corn from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick the sweet potato from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick the apple from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 27.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 44.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 40,
+        "seed": 82,
+        "description": "Pick the fish from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 41.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 41,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 41,
+        "seed": 83,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 42,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 42,
+        "seed": 84,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 43,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 43,
+        "seed": 85,
+        "description": "Pick the egg from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 44,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 44,
+        "seed": 86,
+        "description": "Pick the orange from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 45.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 45,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 45,
+        "seed": 87,
+        "description": "Pick the lemon from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 46,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 46,
+        "seed": 88,
+        "description": "Pick the squash from the sink and place it on the plate located on the counter.",
+        "success": false,
+        "length": 57,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 47,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 47,
+        "seed": 89,
+        "description": "Pick the onion from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 42.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 48,
+        "task_name": "PickPlaceSinkToCounter",
+        "episode_idx": 48,
+        "seed": 90,
+        "description": "Pick the tangerine from the sink and place it on the plate located on the counter.",
+        "success": true,
+        "length": 57,
+        "reward": 43.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
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+    }
+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..166a3276f6247bdf2ee7de2cb15cddf0627441e7
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json	
@@ -0,0 +1,602 @@
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e403c1d727327e9bfb35e5c9159a7c6f60a7505
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json	
@@ -0,0 +1,606 @@
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+        }
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f0f00568fcb5669a7591fabd73f1f91e6294cf
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..db073a6c28053ab6fc56dfe7defb83e81ac63023
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json	
@@ -0,0 +1,606 @@
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+        },
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+        },
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+        },
+        {
+            "completion_order": 48,
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+            "seed": 90,
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+        },
+        {
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+            "seed": 91,
+            "description": "Fully slide the top dishwasher rack in.",
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+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2696ac8f641c0af64c19b86a1eb639ad926be0e
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json	
@@ -0,0 +1,602 @@
+[
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4460a843038fe6a82d0c0bbba5f5616f2840e033
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json	
@@ -0,0 +1,606 @@
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+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37761b3f852a359e0a4c1567d5e50c5e3f0d629
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..12166eefab3352bb722f227651d368dba2fbb1aa
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json	
@@ -0,0 +1,606 @@
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+            "reward": 0.0,
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+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf4388abadd53d4d33c5371a7b5cd096c358539
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b8e8f963645b39b2bedeb07dc8dcddd499d57fb
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json	
@@ -0,0 +1,606 @@
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+        },
+        {
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+        },
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+        },
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+        },
+        {
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+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..0730fe89eefc9bbaec2b087462f947919f5498b2
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json	
@@ -0,0 +1,602 @@
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+]
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..676e18167d03061d803f06251668d8c2aeb7c65f
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d5dc661d461ccde6322c1e803944694b200a92
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd403fb30bdbc80fe238e90af632efb3417655c0
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json	
@@ -0,0 +1,606 @@
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c94f90bd48e4546651fff03de8306e51598f45b
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json	
@@ -0,0 +1,602 @@
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\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd50d5a6dcc5f05ff49a0202b34fe0c285f8a2ba
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json	
@@ -0,0 +1,606 @@
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+            "completion_order": 49,
+            "task_name": "TurnOnStove",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}
\ No newline at end of file
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/resolved_config.yaml b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..119049f4c15581fc7cd7b2136c37259766bab6df
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/resolved_config.yaml	
@@ -0,0 +1,48 @@
+experiment_name: rkd_v2_1_distance_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_da_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_relation_mode: token_pair_mean
+    rkd_loss_type: distance_angle
+    rkd_distance_loss_weight: 1.0
+    rkd_angle_loss_weight: 2.0
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_da_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_relation_mode: token_pair_mean
+    rkd_loss_type: distance_angle
+    rkd_distance_loss_weight: 1.0
+    rkd_angle_loss_weight: 2.0
+    rkd_exclude_diagonal: true
+resolved_sweep: {}
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/rkd_v2_1_da.yaml b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/rkd_v2_1_da.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4a7a4f3d0d2c456100bad3b15900de8037b74a28
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/rkd_v2_1_da.yaml	
@@ -0,0 +1,47 @@
+experiment_name: rkd_v2_1_distance_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_da_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_relation_mode: token_pair_mean
+    rkd_loss_type: distance_angle
+    rkd_distance_loss_weight: 1.0
+    rkd_angle_loss_weight: 2.0
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_da_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_relation_mode: token_pair_mean
+    rkd_loss_type: distance_angle
+    rkd_distance_loss_weight: 1.0
+    rkd_angle_loss_weight: 2.0
+    rkd_exclude_diagonal: true
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/selected_eval_config.yaml b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/selected_eval_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..119049f4c15581fc7cd7b2136c37259766bab6df
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/selected_eval_config.yaml	
@@ -0,0 +1,48 @@
+experiment_name: rkd_v2_1_distance_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_da_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_relation_mode: token_pair_mean
+    rkd_loss_type: distance_angle
+    rkd_distance_loss_weight: 1.0
+    rkd_angle_loss_weight: 2.0
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_da_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_relation_mode: token_pair_mean
+    rkd_loss_type: distance_angle
+    rkd_distance_loss_weight: 1.0
+    rkd_angle_loss_weight: 2.0
+    rkd_exclude_diagonal: true
+resolved_sweep: {}
diff --git a/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/summary.txt b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acfc1e12cc305d057a3e273d2a02cdf79d5026a2
--- /dev/null
+++ b/RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10/summary.txt	
@@ -0,0 +1,59 @@
+Eval metadata
+- total_eval_time: 4h 30m 54s (16253.99s)
+- model_path: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default
+- video_dir: /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- episode_seed_start: None
+- episode_seed_manifest: /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/eval_seed42.json
+- episode_manifest_output: None
+- command: my_scripts/run_eval.py --model_path /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/phase3 --video_dir /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4935 --seed 42 --episode_seed_manifest /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/eval_seed42.json
+- config_yaml_candidates:
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/rkd_v2_1_da.yaml
+- selected_config_yaml: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle/default/resolved_config.yaml
+- copied_config_yamls:
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/rkd_v2_1_da.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_1_DA_phase3_30k/seed42_my_atomic26_nenv10/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 6 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 76 | None
+CoffeeSetupMug: 36 | None
+NavigateKitchen: 40 | None
+OpenCabinet: 52 | None
+OpenDrawer: 60 | None
+OpenStandMixerHead: 90 | None
+PickPlaceCounterToCabinet: 44 | None
+PickPlaceCounterToStove: 38 | None
+PickPlaceDrawerToCounter: 46 | None
+PickPlaceSinkToCounter: 64 | None
+PickPlaceToasterToCounter: 84 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 78 | None
+TurnOnMicrowave: 20 | None
+TurnOffMicrowave: 24 | None
+OpenElectricKettleLid: 60 | None
+SlideDishwasherRack: 70 | None
+TurnOnSinkFaucet: 68 | None
+TurnSinkSpout: 96 | None
+TurnOffSinkFaucet: 86 | None
+AdjustWaterTemperature: 56 | None
+TurnOffStove: 28 | None
+TurnOnStove: 40 | None
+AdjustToasterOvenTemperature: 18 | None
+AVG: 54.2 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED