| [2026-03-24 10:28:17] Task Name: insert_tube |
| [2026-03-24 10:28:17] Task Config: /mnt/data/baijun/UniVTAC/task_config/demo.yml |
| [2026-03-24 10:28:17] Eval Config: { |
| "policy_name": "ACT", |
| "seed": 0, |
| "ckpt_setting": 50, |
| "instruction_type": "seen", |
| "instuction_file": null, |
| "task_name": "insert_tube", |
| "task_config": "demo", |
| "train_config": "train_config_vision_all" |
| } |
| -------------------- |
|
|
| [2026-03-24 10:28:17] Task init finish in 38.93 seconds. |
| [2026-03-24 10:28:17] Policy init finish in 1.82 seconds. |
| [2026-03-24 10:31:31] [1 ] Seed 1000000 failed after 192.96 s. |
| steps: 566 , actions: 179 . |
| Instruction: Empty |
| Total 0/1(0.00%) success. |
| [2026-03-24 10:33:59] [2 ] Seed 1000001 failed after 147.79 s. |
| steps: 652 , actions: 250 . |
| Instruction: Empty |
| Total 0/2(0.00%) success. |
| [2026-03-24 10:36:50] [3 ] Seed 1000002 success after 170.50 s. |
| steps: 650 , actions: 222 . |
| Instruction: Empty |
| Total 1/3(33.33%) success. |
| [2026-03-24 10:39:28] [4 ] Seed 1000003 success after 157.33 s. |
| steps: 595 , actions: 185 . |
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| Total 2/4(50.00%) success. |
| [2026-03-24 10:41:43] [5 ] Seed 1000004 success after 135.17 s. |
| steps: 537 , actions: 115 . |
| Instruction: Empty |
| Total 3/5(60.00%) success. |
| [2026-03-24 10:43:59] [6 ] Seed 1000005 failed after 135.30 s. |
| steps: 502 , actions: 81 . |
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| Total 3/6(50.00%) success. |
| [2026-03-24 10:46:26] [7 ] Seed 1000006 success after 145.66 s. |
| steps: 556 , actions: 149 . |
| Instruction: Empty |
| Total 4/7(57.14%) success. |
| [2026-03-24 10:48:55] [8 ] Seed 1000007 success after 148.90 s. |
| steps: 573 , actions: 164 . |
| Instruction: Empty |
| Total 5/8(62.50%) success. |
| [2026-03-24 10:51:46] [9 ] Seed 1000008 success after 170.22 s. |
| steps: 623 , actions: 218 . |
| Instruction: Empty |
| Total 6/9(66.67%) success. |
| [2026-03-24 10:54:10] [10 ] Seed 1000009 success after 142.68 s. |
| steps: 580 , actions: 155 . |
| Instruction: Empty |
| Total 7/10(70.00%) success. |
| [2026-03-24 10:56:27] [11 ] Seed 1000010 failed after 136.83 s. |
| steps: 553 , actions: 138 . |
| Instruction: Empty |
| Total 7/11(63.64%) success. |
| [2026-03-24 10:59:14] [12 ] Seed 1000011 success after 164.99 s. |
| steps: 588 , actions: 177 . |
| Instruction: Empty |
| Total 8/12(66.67%) success. |
| [2026-03-24 11:02:18] [13 ] Seed 1000012 success after 167.64 s. |
| steps: 620 , actions: 173 . |
| Instruction: Empty |
| Total 9/13(69.23%) success. |
| [2026-03-24 11:04:53] [14 ] Seed 1000013 success after 154.08 s. |
| steps: 601 , actions: 208 . |
| Instruction: Empty |
| Total 10/14(71.43%) success. |
| [2026-03-24 11:07:42] [15 ] Seed 1000014 success after 166.07 s. |
| steps: 607 , actions: 234 . |
| Instruction: Empty |
| Total 11/15(73.33%) success. |
| [2026-03-24 11:10:44] [16 ] Seed 1000015 success after 181.55 s. |
| steps: 681 , actions: 264 . |
| Instruction: Empty |
| Total 12/16(75.00%) success. |
| [2026-03-24 11:13:10] [17 ] Seed 1000016 success after 144.76 s. |
| steps: 585 , actions: 171 . |
| Instruction: Empty |
| Total 13/17(76.47%) success. |
| [2026-03-24 11:15:54] [18 ] Seed 1000017 failed after 163.00 s. |
| steps: 629 , actions: 217 . |
| Instruction: Empty |
| Total 13/18(72.22%) success. |
| [2026-03-24 11:19:47] [19 ] Seed 1000018 failed after 218.83 s. |
| steps: 696 , actions: 300 . |
| Instruction: Empty |
| Total 13/19(68.42%) success. |
| [2026-03-24 11:24:05] [20 ] Seed 1000019 success after 255.61 s. |
| steps: 557 , actions: 170 . |
| Instruction: Empty |
| Total 14/20(70.00%) success. |
| [2026-03-24 11:26:46] [21 ] Seed 1000020 success after 159.56 s. |
| steps: 572 , actions: 160 . |
| Instruction: Empty |
| Total 15/21(71.43%) success. |
| [2026-03-24 11:29:31] [22 ] Seed 1000021 success after 164.06 s. |
| steps: 591 , actions: 214 . |
| Instruction: Empty |
| Total 16/22(72.73%) success. |
| [2026-03-24 11:31:44] [23 ] Seed 1000022 success after 132.40 s. |
| steps: 534 , actions: 132 . |
| Instruction: Empty |
| Total 17/23(73.91%) success. |
| [2026-03-24 11:34:44] [24 ] Seed 1000023 success after 179.20 s. |
| steps: 636 , actions: 229 . |
| Instruction: Empty |
| Total 18/24(75.00%) success. |
| [2026-03-24 11:37:54] [25 ] Seed 1000024 success after 188.63 s. |
| steps: 541 , actions: 149 . |
| Instruction: Empty |
| Total 19/25(76.00%) success. |
| [2026-03-24 11:40:33] [26 ] Seed 1000025 success after 158.94 s. |
| steps: 597 , actions: 202 . |
| Instruction: Empty |
| Total 20/26(76.92%) success. |
| [2026-03-24 11:44:04] [27 ] Seed 1000026 failed after 209.57 s. |
| steps: 702 , actions: 300 . |
| Instruction: Empty |
| Total 20/27(74.07%) success. |
| [2026-03-24 11:46:33] [28 ] Seed 1000027 success after 143.64 s. |
| steps: 528 , actions: 140 . |
| Instruction: Empty |
| Total 21/28(75.00%) success. |
| [2026-03-24 11:49:02] [29 ] Seed 1000028 failed after 148.07 s. |
| steps: 571 , actions: 172 . |
| Instruction: Empty |
| Total 21/29(72.41%) success. |
| [2026-03-24 11:50:54] [30 ] Seed 1000029 failed after 111.18 s. |
| steps: 500 , actions: 111 . |
| Instruction: Empty |
| Total 21/30(70.00%) success. |
| [2026-03-24 11:53:58] [31 ] Seed 1000030 success after 182.54 s. |
| steps: 658 , actions: 246 . |
| Instruction: Empty |
| Total 22/31(70.97%) success. |
| [2026-03-24 11:56:42] [32 ] Seed 1000031 success after 164.01 s. |
| steps: 579 , actions: 182 . |
| Instruction: Empty |
| Total 23/32(71.88%) success. |
| [2026-03-24 11:58:59] [33 ] Seed 1000032 success after 135.59 s. |
| steps: 545 , actions: 150 . |
| Instruction: Empty |
| Total 24/33(72.73%) success. |
| [2026-03-24 12:01:25] [34 ] Seed 1000033 success after 145.02 s. |
| steps: 598 , actions: 170 . |
| Instruction: Empty |
| Total 25/34(73.53%) success. |
| [2026-03-24 12:04:11] [35 ] Seed 1000034 failed after 165.62 s. |
| steps: 601 , actions: 197 . |
| Instruction: Empty |
| Total 25/35(71.43%) success. |
| [2026-03-24 12:06:54] [36 ] Seed 1000035 success after 158.69 s. |
| steps: 603 , actions: 173 . |
| Instruction: Empty |
| Total 26/36(72.22%) success. |
| [2026-03-24 12:10:15] [37 ] Seed 1000036 success after 200.79 s. |
| steps: 651 , actions: 253 . |
| Instruction: Empty |
| Total 27/37(72.97%) success. |
| [2026-03-24 12:12:59] [38 ] Seed 1000037 success after 163.68 s. |
| steps: 590 , actions: 191 . |
| Instruction: Empty |
| Total 28/38(73.68%) success. |
| [2026-03-24 12:15:33] [39 ] Seed 1000038 failed after 152.73 s. |
| steps: 589 , actions: 170 . |
| Instruction: Empty |
| Total 28/39(71.79%) success. |
| [2026-03-24 12:17:59] [40 ] Seed 1000039 success after 145.29 s. |
| steps: 550 , actions: 143 . |
| Instruction: Empty |
| Total 29/40(72.50%) success. |
| [2026-03-24 12:20:59] [41 ] Seed 1000040 success after 179.19 s. |
| steps: 626 , actions: 232 . |
| Instruction: Empty |
| Total 30/41(73.17%) success. |
| [2026-03-24 12:23:55] [42 ] Seed 1000041 success after 176.02 s. |
| steps: 626 , actions: 224 . |
| Instruction: Empty |
| Total 31/42(73.81%) success. |
| [2026-03-24 12:26:17] [43 ] Seed 1000042 success after 140.81 s. |
| steps: 562 , actions: 162 . |
| Instruction: Empty |
| Total 32/43(74.42%) success. |
| [2026-03-24 12:28:43] [44 ] Seed 1000043 success after 145.50 s. |
| steps: 558 , actions: 179 . |
| Instruction: Empty |
| Total 33/44(75.00%) success. |
| [2026-03-24 12:31:13] [45 ] Seed 1000044 success after 149.37 s. |
| steps: 561 , actions: 169 . |
| Instruction: Empty |
| Total 34/45(75.56%) success. |
| [2026-03-24 12:33:42] [46 ] Seed 1000045 success after 147.99 s. |
| steps: 557 , actions: 159 . |
| Instruction: Empty |
| Total 35/46(76.09%) success. |
| [2026-03-24 12:35:05] [47 ] Seed 1000046 failed after 82.09 s. |
| steps: 322 , actions: 300 . |
| Instruction: Empty |
| Total 35/47(74.47%) success. |
| [2026-03-24 12:37:57] [48 ] Seed 1000047 success after 171.96 s. |
| steps: 623 , actions: 227 . |
| Instruction: Empty |
| Total 36/48(75.00%) success. |
| [2026-03-24 12:40:55] [49 ] Seed 1000048 success after 177.47 s. |
| steps: 629 , actions: 210 . |
| Instruction: Empty |
| Total 37/49(75.51%) success. |
| [2026-03-24 12:44:29] [50 ] Seed 1000049 success after 212.82 s. |
| steps: 707 , actions: 285 . |
| Instruction: Empty |
| Total 38/50(76.00%) success. |
| [2026-03-24 12:46:47] [51 ] Seed 1000050 failed after 137.94 s. |
| steps: 563 , actions: 149 . |
| Instruction: Empty |
| Total 38/51(74.51%) success. |
| [2026-03-24 12:49:38] [52 ] Seed 1000051 failed after 169.85 s. |
| steps: 642 , actions: 228 . |
| Instruction: Empty |
| Total 38/52(73.08%) success. |
| [2026-03-24 12:52:08] [53 ] Seed 1000052 failed after 149.51 s. |
| steps: 553 , actions: 161 . |
| Instruction: Empty |
| Total 38/53(71.70%) success. |
| [2026-03-24 12:54:05] [54 ] Seed 1000053 success after 116.17 s. |
| steps: 497 , actions: 101 . |
| Instruction: Empty |
| Total 39/54(72.22%) success. |
| [2026-03-24 12:56:51] [55 ] Seed 1000054 failed after 165.93 s. |
| steps: 503 , actions: 110 . |
| Instruction: Empty |
| Total 39/55(70.91%) success. |
| [2026-03-24 12:59:01] [56 ] Seed 1000055 success after 128.83 s. |
| steps: 541 , actions: 148 . |
| Instruction: Empty |
| Total 40/56(71.43%) success. |
| [2026-03-24 13:01:55] [57 ] Seed 1000056 success after 172.62 s. |
| steps: 600 , actions: 199 . |
| Instruction: Empty |
| Total 41/57(71.93%) success. |
| [2026-03-24 13:04:21] [58 ] Seed 1000057 success after 145.58 s. |
| steps: 560 , actions: 164 . |
| Instruction: Empty |
| Total 42/58(72.41%) success. |
| [2026-03-24 13:07:04] [59 ] Seed 1000058 success after 161.83 s. |
| steps: 547 , actions: 160 . |
| Instruction: Empty |
| Total 43/59(72.88%) success. |
| [2026-03-24 13:10:01] [60 ] Seed 1000059 failed after 175.77 s. |
| steps: 624 , actions: 223 . |
| Instruction: Empty |
| Total 43/60(71.67%) success. |
| [2026-03-24 13:11:54] [61 ] Seed 1000060 failed after 112.97 s. |
| steps: 508 , actions: 88 . |
| Instruction: Empty |
| Total 43/61(70.49%) success. |
| [2026-03-24 13:14:34] [62 ] Seed 1000061 success after 159.02 s. |
| steps: 613 , actions: 201 . |
| Instruction: Empty |
| Total 44/62(70.97%) success. |
| [2026-03-24 13:16:52] [63 ] Seed 1000062 failed after 137.30 s. |
| steps: 532 , actions: 155 . |
| Instruction: Empty |
| Total 44/63(69.84%) success. |
| [2026-03-24 13:19:03] [64 ] Seed 1000063 failed after 129.59 s. |
| steps: 536 , actions: 145 . |
| Instruction: Empty |
| Total 44/64(68.75%) success. |
| [2026-03-24 13:20:28] [65 ] Seed 1000064 failed after 85.26 s. |
| steps: 305 , actions: 300 . |
| Instruction: Empty |
| Total 44/65(67.69%) success. |
| [2026-03-24 13:22:57] [66 ] Seed 1000065 failed after 147.86 s. |
| steps: 556 , actions: 164 . |
| Instruction: Empty |
| Total 44/66(66.67%) success. |
| [2026-03-24 13:26:03] [67 ] Seed 1000066 failed after 185.27 s. |
| steps: 605 , actions: 224 . |
| Instruction: Empty |
| Total 44/67(65.67%) success. |
| [2026-03-24 13:28:44] [68 ] Seed 1000067 success after 160.27 s. |
| steps: 581 , actions: 203 . |
| Instruction: Empty |
| Total 45/68(66.18%) success. |
| [2026-03-24 13:31:00] [69 ] Seed 1000068 success after 135.14 s. |
| steps: 521 , actions: 144 . |
| Instruction: Empty |
| Total 46/69(66.67%) success. |
| [2026-03-24 13:33:25] [70 ] Seed 1000069 success after 144.62 s. |
| steps: 547 , actions: 155 . |
| Instruction: Empty |
| Total 47/70(67.14%) success. |
| [2026-03-24 13:36:18] [71 ] Seed 1000070 success after 171.54 s. |
| steps: 629 , actions: 214 . |
| Instruction: Empty |
| Total 48/71(67.61%) success. |
| [2026-03-24 13:39:06] [72 ] Seed 1000071 success after 167.96 s. |
| steps: 622 , actions: 227 . |
| Instruction: Empty |
| Total 49/72(68.06%) success. |
| [2026-03-24 13:41:41] [73 ] Seed 1000072 failed after 154.07 s. |
| steps: 561 , actions: 190 . |
| Instruction: Empty |
| Total 49/73(67.12%) success. |
| [2026-03-24 13:44:28] [74 ] Seed 1000073 success after 166.53 s. |
| steps: 588 , actions: 199 . |
| Instruction: Empty |
| Total 50/74(67.57%) success. |
| [2026-03-24 13:47:20] [75 ] Seed 1000074 success after 170.46 s. |
| steps: 628 , actions: 210 . |
| Instruction: Empty |
| Total 51/75(68.00%) success. |
| [2026-03-24 13:49:55] [76 ] Seed 1000075 success after 154.37 s. |
| steps: 568 , actions: 176 . |
| Instruction: Empty |
| Total 52/76(68.42%) success. |
| [2026-03-24 13:52:23] [77 ] Seed 1000076 success after 147.51 s. |
| steps: 537 , actions: 151 . |
| Instruction: Empty |
| Total 53/77(68.83%) success. |
| [2026-03-24 13:54:53] [78 ] Seed 1000077 success after 148.62 s. |
| steps: 579 , actions: 178 . |
| Instruction: Empty |
| Total 54/78(69.23%) success. |
| [2026-03-24 13:57:08] [79 ] Seed 1000078 failed after 134.45 s. |
| steps: 531 , actions: 140 . |
| Instruction: Empty |
| Total 54/79(68.35%) success. |
| [2026-03-24 13:59:59] [80 ] Seed 1000079 success after 170.23 s. |
| steps: 634 , actions: 226 . |
| Instruction: Empty |
| Total 55/80(68.75%) success. |
| [2026-03-24 14:03:13] [81 ] Seed 1000080 success after 192.46 s. |
| steps: 649 , actions: 280 . |
| Instruction: Empty |
| Total 56/81(69.14%) success. |
| [2026-03-24 14:05:54] [82 ] Seed 1000081 success after 160.59 s. |
| steps: 576 , actions: 203 . |
| Instruction: Empty |
| Total 57/82(69.51%) success. |
| [2026-03-24 14:08:10] [83 ] Seed 1000082 failed after 134.79 s. |
| steps: 538 , actions: 158 . |
| Instruction: Empty |
| Total 57/83(68.67%) success. |
| [2026-03-24 14:10:19] [84 ] Seed 1000083 success after 128.28 s. |
| steps: 531 , actions: 133 . |
| Instruction: Empty |
| Total 58/84(69.05%) success. |
| [2026-03-24 14:12:54] [85 ] Seed 1000084 success after 154.15 s. |
| steps: 589 , actions: 192 . |
| Instruction: Empty |
| Total 59/85(69.41%) success. |
| [2026-03-24 14:15:10] [86 ] Seed 1000085 success after 134.41 s. |
| steps: 526 , actions: 155 . |
| Instruction: Empty |
| Total 60/86(69.77%) success. |
| [2026-03-24 14:16:22] [87 ] Seed 1000086 failed after 72.07 s. |
| steps: 300 , actions: 300 . |
| Instruction: Empty |
| Total 60/87(68.97%) success. |
| [2026-03-24 14:18:47] [88 ] Seed 1000087 success after 143.96 s. |
| steps: 568 , actions: 155 . |
| Instruction: Empty |
| Total 61/88(69.32%) success. |
| [2026-03-24 14:22:26] [89 ] Seed 1000088 failed after 218.85 s. |
| steps: 717 , actions: 300 . |
| Instruction: Empty |
| Total 61/89(68.54%) success. |
| [2026-03-24 14:24:37] [90 ] Seed 1000089 success after 129.88 s. |
| steps: 535 , actions: 130 . |
| Instruction: Empty |
| Total 62/90(68.89%) success. |
| [2026-03-24 14:27:15] [91 ] Seed 1000090 success after 157.94 s. |
| steps: 619 , actions: 188 . |
| Instruction: Empty |
| Total 63/91(69.23%) success. |
| [2026-03-24 14:29:41] [92 ] Seed 1000091 failed after 143.55 s. |
| steps: 545 , actions: 154 . |
| Instruction: Empty |
| Total 63/92(68.48%) success. |
| [2026-03-24 14:32:30] [93 ] Seed 1000092 success after 168.54 s. |
| steps: 592 , actions: 215 . |
| Instruction: Empty |
| Total 64/93(68.82%) success. |
| [2026-03-24 14:35:15] [94 ] Seed 1000093 success after 164.45 s. |
| steps: 597 , actions: 211 . |
| Instruction: Empty |
| Total 65/94(69.15%) success. |
| [2026-03-24 14:37:39] [95 ] Seed 1000094 success after 143.41 s. |
| steps: 573 , actions: 173 . |
| Instruction: Empty |
| Total 66/95(69.47%) success. |
| [2026-03-24 14:39:17] [96 ] Seed 1000095 failed after 97.16 s. |
| steps: 482 , actions: 110 . |
| Instruction: Empty |
| Total 66/96(68.75%) success. |
| [2026-03-24 14:41:35] [97 ] Seed 1000096 success after 137.99 s. |
| steps: 543 , actions: 154 . |
| Instruction: Empty |
| Total 67/97(69.07%) success. |
| [2026-03-24 14:43:46] [98 ] Seed 1000097 success after 129.55 s. |
| steps: 539 , actions: 136 . |
| Instruction: Empty |
| Total 68/98(69.39%) success. |
| [2026-03-24 14:47:18] [99 ] Seed 1000098 failed after 211.96 s. |
| steps: 705 , actions: 300 . |
| Instruction: Empty |
| Total 68/99(68.69%) success. |
| [2026-03-24 14:50:45] [100] Seed 1000099 success after 206.51 s. |
| steps: 673 , actions: 287 . |
| Instruction: Empty |
| Total 69/100(69.00%) success. |
| [2026-03-24 14:50:45] Final Result: 69/100(69.00%) success. |
|
|
