[2026-03-22 09:46:52] Task Name: grasp_classify
[2026-03-22 09:46:53] Task Config: /mnt/data/baijun/UniVTAC/task_config/demo.yml
[2026-03-22 09:46:53] Eval Config: {
    "policy_name": "ACT",
    "seed": 0,
    "ckpt_setting": 50,
    "instruction_type": "seen",
    "instuction_file": null,
    "task_name": "grasp_classify",
    "task_config": "demo",
    "train_config": "train_config_vision"
}
--------------------

[2026-03-22 09:46:53] Task init finish in 97.73 seconds.
[2026-03-22 09:46:53] Policy init finish in 19.40 seconds.
[2026-03-22 09:48:48] [1  ] Seed 1000000 success after 114.65 s.
steps: 275  , actions: 35   .
Instruction: Empty
Total 1/1(100.00%) success.
[2026-03-22 09:49:32] [2  ] Seed 1000001 success after 44.01 s.
steps: 273  , actions: 40   .
Instruction: Empty
Total 2/2(100.00%) success.
[2026-03-22 09:53:15] [3  ] Seed 1000002 failed after 222.41 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 2/3(66.67%) success.
[2026-03-22 09:58:03] [4  ] Seed 1000003 failed after 286.28 s.
steps: 532  , actions: 300  .
Instruction: Empty
Total 2/4(50.00%) success.
[2026-03-22 09:59:09] [5  ] Seed 1000004 success after 66.10 s.
steps: 265  , actions: 34   .
Instruction: Empty
Total 3/5(60.00%) success.
[2026-03-22 10:03:49] [6  ] Seed 1000005 failed after 278.74 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 3/6(50.00%) success.
[2026-03-22 10:05:11] [7  ] Seed 1000006 success after 80.56 s.
steps: 282  , actions: 50   .
Instruction: Empty
Total 4/7(57.14%) success.
[2026-03-22 10:13:04] [8  ] Seed 1000007 failed after 470.70 s.
steps: 536  , actions: 300  .
Instruction: Empty
Total 4/8(50.00%) success.
[2026-03-22 10:19:23] [9  ] Seed 1000008 failed after 377.76 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 4/9(44.44%) success.
[2026-03-22 10:20:56] [10 ] Seed 1000009 success after 91.66 s.
steps: 269  , actions: 36   .
Instruction: Empty
Total 5/10(50.00%) success.
[2026-03-22 10:22:07] [11 ] Seed 1000010 success after 70.87 s.
steps: 267  , actions: 36   .
Instruction: Empty
Total 6/11(54.55%) success.
[2026-03-22 10:31:09] [12 ] Seed 1000011 failed after 540.75 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 6/12(50.00%) success.
[2026-03-22 10:36:58] [13 ] Seed 1000012 failed after 347.33 s.
steps: 530  , actions: 300  .
Instruction: Empty
Total 6/13(46.15%) success.
[2026-03-22 10:42:40] [14 ] Seed 1000013 failed after 340.46 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 6/14(42.86%) success.
[2026-03-22 10:45:00] [15 ] Seed 1000014 success after 139.36 s.
steps: 272  , actions: 39   .
Instruction: Empty
Total 7/15(46.67%) success.
[2026-03-22 10:47:10] [16 ] Seed 1000015 success after 130.15 s.
steps: 271  , actions: 39   .
Instruction: Empty
Total 8/16(50.00%) success.
[2026-03-22 10:49:02] [17 ] Seed 1000016 success after 111.12 s.
steps: 261  , actions: 28   .
Instruction: Empty
Total 9/17(52.94%) success.
[2026-03-22 10:55:39] [18 ] Seed 1000017 failed after 395.46 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 9/18(50.00%) success.
[2026-03-22 10:57:25] [19 ] Seed 1000018 success after 105.00 s.
steps: 269  , actions: 41   .
Instruction: Empty
Total 10/19(52.63%) success.
[2026-03-22 11:03:55] [20 ] Seed 1000019 failed after 388.38 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 10/20(50.00%) success.
[2026-03-22 11:05:40] [21 ] Seed 1000020 success after 103.44 s.
steps: 273  , actions: 37   .
Instruction: Empty
Total 11/21(52.38%) success.
[2026-03-22 11:11:26] [22 ] Seed 1000021 failed after 344.77 s.
steps: 529  , actions: 300  .
Instruction: Empty
Total 11/22(50.00%) success.
[2026-03-22 11:13:41] [23 ] Seed 1000022 success after 134.30 s.
steps: 308  , actions: 73   .
Instruction: Empty
Total 12/23(52.17%) success.
[2026-03-22 11:20:12] [24 ] Seed 1000023 failed after 389.31 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 12/24(50.00%) success.
[2026-03-22 11:22:04] [25 ] Seed 1000024 success after 111.18 s.
steps: 289  , actions: 55   .
Instruction: Empty
Total 13/25(52.00%) success.
[2026-03-22 11:23:36] [26 ] Seed 1000025 success after 90.63 s.
steps: 274  , actions: 38   .
Instruction: Empty
Total 14/26(53.85%) success.
[2026-03-22 11:24:57] [27 ] Seed 1000026 success after 80.42 s.
steps: 267  , actions: 32   .
Instruction: Empty
Total 15/27(55.56%) success.
[2026-03-22 11:31:04] [28 ] Seed 1000027 failed after 365.88 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 15/28(53.57%) success.
[2026-03-22 11:36:51] [29 ] Seed 1000028 failed after 345.04 s.
steps: 532  , actions: 300  .
Instruction: Empty
Total 15/29(51.72%) success.
[2026-03-22 11:42:37] [30 ] Seed 1000029 failed after 344.79 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 15/30(50.00%) success.
[2026-03-22 11:48:44] [31 ] Seed 1000030 failed after 365.81 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 15/31(48.39%) success.
[2026-03-22 11:54:55] [32 ] Seed 1000031 failed after 369.23 s.
steps: 537  , actions: 300  .
Instruction: Empty
Total 15/32(46.88%) success.
[2026-03-22 12:00:33] [33 ] Seed 1000032 failed after 337.05 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 15/33(45.45%) success.
[2026-03-22 12:06:49] [34 ] Seed 1000033 failed after 374.26 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 15/34(44.12%) success.
[2026-03-22 12:12:26] [35 ] Seed 1000034 failed after 336.08 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 15/35(42.86%) success.
[2026-03-22 12:14:02] [36 ] Seed 1000035 success after 94.90 s.
steps: 275  , actions: 42   .
Instruction: Empty
Total 16/36(44.44%) success.
[2026-03-22 12:15:24] [37 ] Seed 1000036 success after 80.58 s.
steps: 265  , actions: 32   .
Instruction: Empty
Total 17/37(45.95%) success.
[2026-03-22 12:16:52] [38 ] Seed 1000037 success after 87.32 s.
steps: 272  , actions: 38   .
Instruction: Empty
Total 18/38(47.37%) success.
[2026-03-22 12:22:57] [39 ] Seed 1000038 failed after 363.93 s.
steps: 531  , actions: 300  .
Instruction: Empty
Total 18/39(46.15%) success.
[2026-03-22 12:24:47] [40 ] Seed 1000039 success after 107.71 s.
steps: 275  , actions: 41   .
Instruction: Empty
Total 19/40(47.50%) success.
[2026-03-22 12:32:17] [41 ] Seed 1000040 failed after 448.60 s.
steps: 536  , actions: 300  .
Instruction: Empty
Total 19/41(46.34%) success.
[2026-03-22 12:34:01] [42 ] Seed 1000041 success after 104.27 s.
steps: 276  , actions: 42   .
Instruction: Empty
Total 20/42(47.62%) success.
[2026-03-22 12:36:56] [43 ] Seed 1000042 success after 173.66 s.
steps: 273  , actions: 38   .
Instruction: Empty
Total 21/43(48.84%) success.
[2026-03-22 12:39:16] [44 ] Seed 1000043 success after 139.38 s.
steps: 272  , actions: 37   .
Instruction: Empty
Total 22/44(50.00%) success.
[2026-03-22 12:45:18] [45 ] Seed 1000044 failed after 360.62 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 22/45(48.89%) success.
[2026-03-22 12:50:51] [46 ] Seed 1000045 failed after 332.47 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 22/46(47.83%) success.
[2026-03-22 12:52:10] [47 ] Seed 1000046 success after 77.60 s.
steps: 267  , actions: 35   .
Instruction: Empty
Total 23/47(48.94%) success.
[2026-03-22 12:53:32] [48 ] Seed 1000047 success after 81.54 s.
steps: 275  , actions: 38   .
Instruction: Empty
Total 24/48(50.00%) success.
[2026-03-22 12:58:58] [49 ] Seed 1000048 failed after 325.07 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 24/49(48.98%) success.
[2026-03-22 13:00:13] [50 ] Seed 1000049 success after 73.24 s.
steps: 269  , actions: 34   .
Instruction: Empty
Total 25/50(50.00%) success.
[2026-03-22 13:01:34] [51 ] Seed 1000050 success after 80.97 s.
steps: 267  , actions: 33   .
Instruction: Empty
Total 26/51(50.98%) success.
[2026-03-22 13:07:25] [52 ] Seed 1000051 failed after 350.00 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 26/52(50.00%) success.
[2026-03-22 13:13:03] [53 ] Seed 1000052 failed after 336.34 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 26/53(49.06%) success.
[2026-03-22 13:14:26] [54 ] Seed 1000053 success after 81.71 s.
steps: 276  , actions: 41   .
Instruction: Empty
Total 27/54(50.00%) success.
[2026-03-22 13:19:47] [55 ] Seed 1000054 failed after 319.77 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 27/55(49.09%) success.
[2026-03-22 13:25:18] [56 ] Seed 1000055 failed after 329.37 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 27/56(48.21%) success.
[2026-03-22 13:30:39] [57 ] Seed 1000056 failed after 320.08 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 27/57(47.37%) success.
[2026-03-22 13:31:56] [58 ] Seed 1000057 success after 75.17 s.
steps: 269  , actions: 34   .
Instruction: Empty
Total 28/58(48.28%) success.
[2026-03-22 13:37:28] [59 ] Seed 1000058 failed after 330.91 s.
steps: 532  , actions: 300  .
Instruction: Empty
Total 28/59(47.46%) success.
[2026-03-22 13:39:13] [60 ] Seed 1000059 success after 104.61 s.
steps: 294  , actions: 60   .
Instruction: Empty
Total 29/60(48.33%) success.
[2026-03-22 13:40:34] [61 ] Seed 1000060 success after 79.61 s.
steps: 280  , actions: 46   .
Instruction: Empty
Total 30/61(49.18%) success.
[2026-03-22 13:45:59] [62 ] Seed 1000061 failed after 323.63 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 30/62(48.39%) success.
[2026-03-22 13:51:20] [63 ] Seed 1000062 failed after 319.38 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 30/63(47.62%) success.
[2026-03-22 13:52:30] [64 ] Seed 1000063 success after 69.48 s.
steps: 265  , actions: 33   .
Instruction: Empty
Total 31/64(48.44%) success.
[2026-03-22 13:57:57] [65 ] Seed 1000064 failed after 326.23 s.
steps: 530  , actions: 300  .
Instruction: Empty
Total 31/65(47.69%) success.
[2026-03-22 13:59:14] [66 ] Seed 1000065 success after 75.59 s.
steps: 267  , actions: 31   .
Instruction: Empty
Total 32/66(48.48%) success.
[2026-03-22 14:04:46] [67 ] Seed 1000066 failed after 330.96 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 32/67(47.76%) success.
[2026-03-22 14:06:06] [68 ] Seed 1000067 success after 79.22 s.
steps: 274  , actions: 42   .
Instruction: Empty
Total 33/68(48.53%) success.
[2026-03-22 14:07:36] [69 ] Seed 1000068 success after 88.46 s.
steps: 271  , actions: 38   .
Instruction: Empty
Total 34/69(49.28%) success.
[2026-03-22 14:08:56] [70 ] Seed 1000069 success after 79.59 s.
steps: 270  , actions: 36   .
Instruction: Empty
Total 35/70(50.00%) success.
[2026-03-22 14:13:58] [71 ] Seed 1000070 failed after 300.12 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 35/71(49.30%) success.
[2026-03-22 14:15:16] [72 ] Seed 1000071 success after 77.43 s.
steps: 270  , actions: 36   .
Instruction: Empty
Total 36/72(50.00%) success.
[2026-03-22 14:16:27] [73 ] Seed 1000072 success after 70.66 s.
steps: 270  , actions: 37   .
Instruction: Empty
Total 37/73(50.68%) success.
[2026-03-22 14:21:52] [74 ] Seed 1000073 failed after 322.51 s.
steps: 530  , actions: 300  .
Instruction: Empty
Total 37/74(50.00%) success.
[2026-03-22 14:27:13] [75 ] Seed 1000074 failed after 320.03 s.
steps: 536  , actions: 300  .
Instruction: Empty
Total 37/75(49.33%) success.
[2026-03-22 14:32:36] [76 ] Seed 1000075 failed after 321.94 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 37/76(48.68%) success.
[2026-03-22 14:37:53] [77 ] Seed 1000076 failed after 316.03 s.
steps: 536  , actions: 300  .
Instruction: Empty
Total 37/77(48.05%) success.
[2026-03-22 14:39:07] [78 ] Seed 1000077 success after 72.89 s.
steps: 275  , actions: 39   .
Instruction: Empty
Total 38/78(48.72%) success.
[2026-03-22 14:44:22] [79 ] Seed 1000078 failed after 313.49 s.
steps: 532  , actions: 300  .
Instruction: Empty
Total 38/79(48.10%) success.
[2026-03-22 14:49:46] [80 ] Seed 1000079 failed after 322.86 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 38/80(47.50%) success.
[2026-03-22 14:50:59] [81 ] Seed 1000080 success after 71.49 s.
steps: 272  , actions: 36   .
Instruction: Empty
Total 39/81(48.15%) success.
[2026-03-22 14:56:25] [82 ] Seed 1000081 failed after 324.48 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 39/82(47.56%) success.
[2026-03-22 15:02:04] [83 ] Seed 1000082 failed after 338.39 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 39/83(46.99%) success.
[2026-03-22 15:07:39] [84 ] Seed 1000083 failed after 333.12 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 39/84(46.43%) success.
[2026-03-22 15:13:25] [85 ] Seed 1000084 failed after 343.99 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 39/85(45.88%) success.
[2026-03-22 15:14:47] [86 ] Seed 1000085 success after 80.93 s.
steps: 274  , actions: 39   .
Instruction: Empty
Total 40/86(46.51%) success.
[2026-03-22 15:20:20] [87 ] Seed 1000086 failed after 330.62 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 40/87(45.98%) success.
[2026-03-22 15:21:46] [88 ] Seed 1000087 success after 85.64 s.
steps: 278  , actions: 42   .
Instruction: Empty
Total 41/88(46.59%) success.
[2026-03-22 15:27:27] [89 ] Seed 1000088 failed after 338.24 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 41/89(46.07%) success.
[2026-03-22 15:28:48] [90 ] Seed 1000089 success after 79.89 s.
steps: 271  , actions: 39   .
Instruction: Empty
Total 42/90(46.67%) success.
[2026-03-22 15:29:57] [91 ] Seed 1000090 success after 68.33 s.
steps: 259  , actions: 27   .
Instruction: Empty
Total 43/91(47.25%) success.
[2026-03-22 15:35:29] [92 ] Seed 1000091 failed after 330.64 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 43/92(46.74%) success.
[2026-03-22 15:40:56] [93 ] Seed 1000092 failed after 326.26 s.
steps: 535  , actions: 300  .
Instruction: Empty
Total 43/93(46.24%) success.
[2026-03-22 15:46:33] [94 ] Seed 1000093 failed after 335.05 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 43/94(45.74%) success.
[2026-03-22 15:48:00] [95 ] Seed 1000094 success after 86.50 s.
steps: 277  , actions: 42   .
Instruction: Empty
Total 44/95(46.32%) success.
[2026-03-22 15:53:23] [96 ] Seed 1000095 failed after 321.55 s.
steps: 533  , actions: 300  .
Instruction: Empty
Total 44/96(45.83%) success.
[2026-03-22 15:58:46] [97 ] Seed 1000096 failed after 321.60 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 44/97(45.36%) success.
[2026-03-22 16:04:01] [98 ] Seed 1000097 failed after 314.35 s.
steps: 536  , actions: 300  .
Instruction: Empty
Total 44/98(44.90%) success.
[2026-03-22 16:09:10] [99 ] Seed 1000098 failed after 307.21 s.
steps: 534  , actions: 300  .
Instruction: Empty
Total 44/99(44.44%) success.
[2026-03-22 16:14:30] [100] Seed 1000099 failed after 319.46 s.
steps: 538  , actions: 300  .
Instruction: Empty
Total 44/100(44.00%) success.
[2026-03-22 16:14:30] Final Result: 44/100(44.00%) success.