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checkpoints/put_bottle_in_shelf/univtac/log.log

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+[2026-05-02 11:18:55] Task Name: put_bottle_in_shelf
+[2026-05-02 11:18:55] Task Config: /mnt/data/baijun/UniVTAC/task_config/clean.yml
+[2026-05-02 11:18:55] Eval Config: {
+    "policy_name": "ACT",
+    "seed": 0,
+    "ckpt_setting": 50,
+    "instruction_type": "seen",
+    "instuction_file": null,
+    "task_name": "put_bottle_in_shelf",
+    "task_config": "clean",
+    "train_config": "train_config"
+}
+--------------------
+
+[2026-05-02 11:18:55] Task init finish in 47.50 seconds.
+[2026-05-02 11:18:55] Policy init finish in 2.43 seconds.
+[2026-05-02 11:23:34] [1  ] Seed 1000000 failed after 278.50 s.
+steps: 481  , actions: 300  .
+Instruction: Empty
+Total 0/1(0.00%) success.
+[2026-05-02 11:28:00] [2  ] Seed 1000001 failed after 264.97 s.
+steps: 477  , actions: 300  .
+Instruction: Empty
+Total 0/2(0.00%) success.
+[2026-05-02 11:32:28] [3  ] Seed 1000002 failed after 267.70 s.
+steps: 478  , actions: 300  .
+Instruction: Empty
+Total 0/3(0.00%) success.
+[2026-05-02 11:37:32] [4  ] Seed 1000003 failed after 271.55 s.
+steps: 476  , actions: 300  .
+Instruction: Empty
+Total 0/4(0.00%) success.
+[2026-05-02 11:42:19] [5  ] Seed 1000004 success after 285.87 s.
+steps: 441  , actions: 265  .
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+Total 1/5(20.00%) success.
+[2026-05-02 11:46:52] [6  ] Seed 1000005 failed after 272.05 s.
+steps: 475  , actions: 300  .
+Instruction: Empty
+Total 1/6(16.67%) success.
+[2026-05-02 11:51:25] [7  ] Seed 1000006 failed after 272.51 s.
+steps: 477  , actions: 300  .
+Instruction: Empty
+Total 1/7(14.29%) success.
+[2026-05-02 11:56:01] [8  ] Seed 1000007 failed after 276.26 s.
+steps: 473  , actions: 300  .
+Instruction: Empty
+Total 1/8(12.50%) success.
+[2026-05-02 12:00:49] [9  ] Seed 1000008 failed after 287.61 s.
+steps: 481  , actions: 300  .
+Instruction: Empty
+Total 1/9(11.11%) success.
+[2026-05-02 12:05:40] [10 ] Seed 1000009 failed after 290.46 s.
+steps: 475  , actions: 300  .
+Instruction: Empty
+Total 1/10(10.00%) success.
+[2026-05-02 12:09:40] [11 ] Seed 1000010 failed after 238.63 s.
+steps: 468  , actions: 300  .
+Instruction: Empty
+Total 1/11(9.09%) success.
+[2026-05-02 12:12:50] [12 ] Seed 1000011 success after 190.11 s.
+steps: 394  , actions: 229  .
+Instruction: Empty
+Total 2/12(16.67%) success.
+[2026-05-02 12:16:51] [13 ] Seed 1000012 failed after 240.38 s.
+steps: 464  , actions: 300  .
+Instruction: Empty
+Total 2/13(15.38%) success.
+[2026-05-02 12:21:27] [14 ] Seed 1000013 failed after 275.19 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 2/14(14.29%) success.
+[2026-05-02 12:25:30] [15 ] Seed 1000014 failed after 242.38 s.
+steps: 463  , actions: 300  .
+Instruction: Empty
+Total 2/15(13.33%) success.
+[2026-05-02 12:29:34] [16 ] Seed 1000015 failed after 244.16 s.
+steps: 465  , actions: 300  .
+Instruction: Empty
+Total 2/16(12.50%) success.
+[2026-05-02 12:33:33] [17 ] Seed 1000016 failed after 238.55 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 2/17(11.76%) success.
+[2026-05-02 12:37:39] [18 ] Seed 1000017 failed after 245.12 s.
+steps: 465  , actions: 300  .
+Instruction: Empty
+Total 2/18(11.11%) success.
+[2026-05-02 12:41:43] [19 ] Seed 1000018 failed after 243.54 s.
+steps: 467  , actions: 300  .
+Instruction: Empty
+Total 2/19(10.53%) success.
+[2026-05-02 12:45:42] [20 ] Seed 1000019 failed after 238.99 s.
+steps: 464  , actions: 300  .
+Instruction: Empty
+Total 2/20(10.00%) success.
+[2026-05-02 12:49:38] [21 ] Seed 1000020 failed after 235.21 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 2/21(9.52%) success.
+[2026-05-02 12:53:31] [22 ] Seed 1000021 failed after 231.51 s.
+steps: 460  , actions: 300  .
+Instruction: Empty
+Total 2/22(9.09%) success.
+[2026-05-02 12:57:39] [23 ] Seed 1000022 failed after 247.32 s.
+steps: 466  , actions: 300  .
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+Total 2/23(8.70%) success.
+[2026-05-02 13:01:18] [24 ] Seed 1000023 failed after 218.73 s.
+steps: 464  , actions: 300  .
+Instruction: Empty
+Total 2/24(8.33%) success.
+[2026-05-02 13:05:14] [25 ] Seed 1000024 failed after 235.38 s.
+steps: 464  , actions: 300  .
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+Total 2/25(8.00%) success.
+[2026-05-02 13:08:57] [26 ] Seed 1000025 failed after 222.23 s.
+steps: 460  , actions: 300  .
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+Total 2/26(7.69%) success.
+[2026-05-02 13:13:13] [27 ] Seed 1000026 failed after 255.10 s.
+steps: 462  , actions: 300  .
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+Total 2/27(7.41%) success.
+[2026-05-02 13:16:55] [28 ] Seed 1000027 failed after 221.81 s.
+steps: 464  , actions: 300  .
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+Total 2/28(7.14%) success.
+[2026-05-02 13:20:47] [29 ] Seed 1000028 failed after 231.22 s.
+steps: 469  , actions: 300  .
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+Total 2/29(6.90%) success.
+[2026-05-02 13:24:34] [30 ] Seed 1000029 failed after 227.13 s.
+steps: 461  , actions: 300  .
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+Total 2/30(6.67%) success.
+[2026-05-02 13:28:24] [31 ] Seed 1000030 failed after 229.54 s.
+steps: 460  , actions: 300  .
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+Total 2/31(6.45%) success.
+[2026-05-02 13:32:19] [32 ] Seed 1000031 failed after 233.93 s.
+steps: 469  , actions: 300  .
+Instruction: Empty
+Total 2/32(6.25%) success.
+[2026-05-02 13:36:04] [33 ] Seed 1000032 failed after 224.70 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 2/33(6.06%) success.
+[2026-05-02 13:38:36] [34 ] Seed 1000033 success after 151.21 s.
+steps: 353  , actions: 191  .
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+Total 3/34(8.82%) success.
+[2026-05-02 13:42:22] [35 ] Seed 1000034 failed after 225.95 s.
+steps: 462  , actions: 300  .
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+Total 3/35(8.57%) success.
+[2026-05-02 13:46:19] [36 ] Seed 1000035 failed after 236.57 s.
+steps: 466  , actions: 300  .
+Instruction: Empty
+Total 3/36(8.33%) success.
+[2026-05-02 13:50:17] [37 ] Seed 1000036 failed after 237.54 s.
+steps: 465  , actions: 300  .
+Instruction: Empty
+Total 3/37(8.11%) success.
+[2026-05-02 13:54:03] [38 ] Seed 1000037 failed after 225.81 s.
+steps: 458  , actions: 300  .
+Instruction: Empty
+Total 3/38(7.89%) success.
+[2026-05-02 13:57:56] [39 ] Seed 1000038 failed after 232.49 s.
+steps: 462  , actions: 300  .
+Instruction: Empty
+Total 3/39(7.69%) success.
+[2026-05-02 13:59:20] [40 ] Seed 1000039 success after 82.88 s.
+steps: 236  , actions: 76   .
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+Total 4/40(10.00%) success.
+[2026-05-02 14:03:11] [41 ] Seed 1000040 failed after 230.80 s.
+steps: 464  , actions: 300  .
+Instruction: Empty
+Total 4/41(9.76%) success.
+[2026-05-02 14:07:23] [42 ] Seed 1000041 failed after 251.64 s.
+steps: 462  , actions: 300  .
+Instruction: Empty
+Total 4/42(9.52%) success.
+[2026-05-02 14:11:21] [43 ] Seed 1000042 failed after 237.00 s.
+steps: 463  , actions: 300  .
+Instruction: Empty
+Total 4/43(9.30%) success.
+[2026-05-02 14:15:15] [44 ] Seed 1000043 failed after 233.70 s.
+steps: 467  , actions: 300  .
+Instruction: Empty
+Total 4/44(9.09%) success.
+[2026-05-02 14:19:13] [45 ] Seed 1000044 failed after 234.79 s.
+steps: 460  , actions: 300  .
+Instruction: Empty
+Total 4/45(8.89%) success.
+[2026-05-02 14:23:20] [46 ] Seed 1000045 failed after 247.05 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 4/46(8.70%) success.
+[2026-05-02 14:27:20] [47 ] Seed 1000046 failed after 238.08 s.
+steps: 463  , actions: 300  .
+Instruction: Empty
+Total 4/47(8.51%) success.
+[2026-05-02 14:31:29] [48 ] Seed 1000047 failed after 248.03 s.
+steps: 479  , actions: 300  .
+Instruction: Empty
+Total 4/48(8.33%) success.
+[2026-05-02 14:34:53] [49 ] Seed 1000048 success after 204.02 s.
+steps: 414  , actions: 249  .
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+Total 5/49(10.20%) success.
+[2026-05-02 14:38:54] [50 ] Seed 1000049 failed after 240.15 s.
+steps: 479  , actions: 300  .
+Instruction: Empty
+Total 5/50(10.00%) success.
+[2026-05-02 14:42:57] [51 ] Seed 1000050 failed after 240.61 s.
+steps: 462  , actions: 300  .
+Instruction: Empty
+Total 5/51(9.80%) success.
+[2026-05-02 14:46:54] [52 ] Seed 1000051 failed after 235.62 s.
+steps: 458  , actions: 300  .
+Instruction: Empty
+Total 5/52(9.62%) success.
+[2026-05-02 14:49:54] [53 ] Seed 1000052 success after 180.09 s.
+steps: 375  , actions: 212  .
+Instruction: Empty
+Total 6/53(11.32%) success.
+[2026-05-02 14:53:34] [54 ] Seed 1000053 failed after 218.90 s.
+steps: 464  , actions: 300  .
+Instruction: Empty
+Total 6/54(11.11%) success.
+[2026-05-02 14:57:21] [55 ] Seed 1000054 failed after 226.71 s.
+steps: 462  , actions: 300  .
+Instruction: Empty
+Total 6/55(10.91%) success.
+[2026-05-02 15:01:13] [56 ] Seed 1000055 failed after 231.71 s.
+steps: 458  , actions: 300  .
+Instruction: Empty
+Total 6/56(10.71%) success.
+[2026-05-02 15:04:53] [57 ] Seed 1000056 failed after 219.70 s.
+steps: 460  , actions: 300  .
+Instruction: Empty
+Total 6/57(10.53%) success.
+[2026-05-02 15:08:45] [58 ] Seed 1000057 failed after 231.35 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 6/58(10.34%) success.
+[2026-05-02 15:12:28] [59 ] Seed 1000058 failed after 222.62 s.
+steps: 466  , actions: 300  .
+Instruction: Empty
+Total 6/59(10.17%) success.
+[2026-05-02 15:16:14] [60 ] Seed 1000059 failed after 225.01 s.
+steps: 460  , actions: 300  .
+Instruction: Empty
+Total 6/60(10.00%) success.
+[2026-05-02 15:19:41] [61 ] Seed 1000060 success after 206.59 s.
+steps: 423  , actions: 265  .
+Instruction: Empty
+Total 7/61(11.48%) success.
+[2026-05-02 15:23:31] [62 ] Seed 1000061 failed after 229.65 s.
+steps: 459  , actions: 300  .
+Instruction: Empty
+Total 7/62(11.29%) success.
+[2026-05-02 15:27:20] [63 ] Seed 1000062 failed after 228.37 s.
+steps: 466  , actions: 300  .
+Instruction: Empty
+Total 7/63(11.11%) success.
+[2026-05-02 15:31:06] [64 ] Seed 1000063 failed after 226.01 s.
+steps: 469  , actions: 300  .
+Instruction: Empty
+Total 7/64(10.94%) success.
+[2026-05-02 15:34:52] [65 ] Seed 1000064 failed after 224.94 s.
+steps: 461  , actions: 300  .
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+Total 7/65(10.77%) success.
+[2026-05-02 15:38:50] [66 ] Seed 1000065 failed after 237.64 s.
+steps: 465  , actions: 300  .
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+Total 7/66(10.61%) success.
+[2026-05-02 15:42:24] [67 ] Seed 1000066 failed after 213.27 s.
+steps: 459  , actions: 300  .
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+Total 7/67(10.45%) success.
+[2026-05-02 15:46:02] [68 ] Seed 1000067 failed after 218.18 s.
+steps: 460  , actions: 300  .
+Instruction: Empty
+Total 7/68(10.29%) success.
+[2026-05-02 15:49:48] [69 ] Seed 1000068 failed after 224.97 s.
+steps: 461  , actions: 300  .
+Instruction: Empty
+Total 7/69(10.14%) success.
+[2026-05-02 15:53:37] [70 ] Seed 1000069 failed after 228.44 s.
+steps: 467  , actions: 300  .
+Instruction: Empty
+Total 7/70(10.00%) success.
+[2026-05-02 15:57:33] [71 ] Seed 1000070 failed after 236.17 s.
+steps: 469  , actions: 300  .
+Instruction: Empty
+Total 7/71(9.86%) success.
+[2026-05-02 16:01:29] [72 ] Seed 1000071 failed after 235.53 s.
+steps: 463  , actions: 300  .
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+Total 7/72(9.72%) success.
+[2026-05-02 16:05:18] [73 ] Seed 1000072 failed after 228.09 s.
+steps: 460  , actions: 300  .
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+Total 7/73(9.59%) success.
+[2026-05-02 16:09:21] [74 ] Seed 1000073 failed after 242.89 s.
+steps: 462  , actions: 300  .
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+[2026-05-02 16:13:02] [75 ] Seed 1000074 failed after 220.52 s.
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+[2026-05-02 16:16:49] [76 ] Seed 1000075 failed after 225.78 s.
+steps: 469  , actions: 300  .
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+Total 7/76(9.21%) success.
+[2026-05-02 16:20:30] [77 ] Seed 1000076 failed after 221.30 s.
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+[2026-05-02 16:24:11] [78 ] Seed 1000077 failed after 220.14 s.
+steps: 468  , actions: 300  .
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+[2026-05-02 16:28:08] [79 ] Seed 1000078 failed after 236.46 s.
+steps: 458  , actions: 300  .
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+Total 7/79(8.86%) success.
+[2026-05-02 16:32:08] [80 ] Seed 1000079 failed after 230.04 s.
+steps: 468  , actions: 300  .
+Instruction: Empty
+Total 7/80(8.75%) success.
+[2026-05-02 16:36:35] [81 ] Seed 1000080 failed after 266.12 s.
+steps: 471  , actions: 300  .
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+Total 7/81(8.64%) success.
+[2026-05-02 16:41:08] [82 ] Seed 1000081 failed after 272.93 s.
+steps: 476  , actions: 300  .
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+Total 7/82(8.54%) success.
+[2026-05-02 16:45:31] [83 ] Seed 1000082 failed after 262.38 s.
+steps: 474  , actions: 300  .
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+[2026-05-02 16:50:05] [84 ] Seed 1000083 failed after 273.40 s.
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+[2026-05-02 16:54:27] [85 ] Seed 1000084 failed after 261.87 s.
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+Total 7/85(8.24%) success.
+[2026-05-02 16:58:54] [86 ] Seed 1000085 failed after 265.93 s.
+steps: 483  , actions: 300  .
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+[2026-05-02 17:03:24] [87 ] Seed 1000086 failed after 270.12 s.
+steps: 477  , actions: 300  .
+Instruction: Empty
+Total 7/87(8.05%) success.
+[2026-05-02 17:07:54] [88 ] Seed 1000087 failed after 269.22 s.
+steps: 477  , actions: 300  .
+Instruction: Empty
+Total 7/88(7.95%) success.
+[2026-05-02 17:12:28] [89 ] Seed 1000088 failed after 273.12 s.
+steps: 479  , actions: 300  .
+Instruction: Empty
+Total 7/89(7.87%) success.
+[2026-05-02 17:17:37] [90 ] Seed 1000089 failed after 308.92 s.
+steps: 484  , actions: 300  .
+Instruction: Empty
+Total 7/90(7.78%) success.
+[2026-05-02 17:22:03] [91 ] Seed 1000090 failed after 265.61 s.
+steps: 472  , actions: 300  .
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+Total 7/91(7.69%) success.
+[2026-05-02 17:26:32] [92 ] Seed 1000091 failed after 268.26 s.
+steps: 473  , actions: 300  .
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+[2026-05-02 17:31:21] [93 ] Seed 1000092 failed after 288.23 s.
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+[2026-05-02 17:35:48] [94 ] Seed 1000093 failed after 266.62 s.
+steps: 482  , actions: 300  .
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+[2026-05-02 17:40:13] [95 ] Seed 1000094 failed after 264.67 s.
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+Total 7/95(7.37%) success.
+[2026-05-02 17:44:42] [96 ] Seed 1000095 failed after 267.80 s.
+steps: 475  , actions: 300  .
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+Total 7/96(7.29%) success.
+[2026-05-02 17:48:51] [97 ] Seed 1000096 success after 248.49 s.
+steps: 439  , actions: 267  .
+Instruction: Empty
+Total 8/97(8.25%) success.
+[2026-05-02 17:53:23] [98 ] Seed 1000097 failed after 271.84 s.
+steps: 472  , actions: 300  .
+Instruction: Empty
+Total 8/98(8.16%) success.
+[2026-05-02 17:57:01] [99 ] Seed 1000098 failed after 217.76 s.
+steps: 478  , actions: 300  .
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+Total 8/99(8.08%) success.
+[2026-05-02 18:00:28] [100] Seed 1000099 failed after 206.77 s.
+steps: 476  , actions: 300  .
+Instruction: Empty
+Total 8/100(8.00%) success.
+[2026-05-02 18:00:28] Final Result: 8/100(8.00%) success.

checkpoints/put_bottle_in_shelf/univtac/metadata.json

@@ -0,0 +1,502 @@
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checkpoints/put_bottle_in_shelf/univtac/policy_last.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f46fdc26bc52ee0e5580c86c09291ee32eb50a5b9b56f555f35b25e40bdd2ce0
+size 382746500

checkpoints/put_bottle_in_shelf/vision_only/log.log

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+[2026-05-02 11:13:59] Task Name: put_bottle_in_shelf
+[2026-05-02 11:13:59] Task Config: /mnt/data/baijun/UniVTAC/task_config/clean.yml
+[2026-05-02 11:13:59] Eval Config: {
+    "policy_name": "ACT",
+    "seed": 0,
+    "ckpt_setting": 50,
+    "instruction_type": "seen",
+    "instuction_file": null,
+    "task_name": "put_bottle_in_shelf",
+    "task_config": "clean",
+    "train_config": "train_config_vision"
+}
+--------------------
+
+[2026-05-02 11:13:59] Task init finish in 49.06 seconds.
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+[2026-05-02 17:53:58] Final Result: 11/100(11.00%) success.

checkpoints/put_bottle_in_shelf/vision_only/metadata.json

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checkpoints/put_bottle_in_shelf/vision_only/policy_last.ckpt

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