WARNING 2026-03-28 15:17:09 figs/eval.py:65 No job name provided, using 'libero_joint_fb_act' as job name. INFO 2026-03-28 15:17:09 bot_eval.py:507 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', 'camera_name_mapping': None, 'control_mode': 'relative', 'disable_env_checker': True, 'episode_length': None, 'features': {'action': {'shape': (7,), 'type': }, 'pixels/agentview_image': {'shape': (360, 360, 3), 'type': }, 'pixels/robot0_eye_in_hand_image': {'shape': (360, 360, 3), 'type': }, 'robot_state/eef/mat': {'shape': (3, 3), 'type': }, 'robot_state/eef/pos': {'shape': (3,), 'type': }, 'robot_state/eef/quat': {'shape': (4,), 'type': }, 'robot_state/gripper/qpos': {'shape': (2,), 'type': }, 'robot_state/gripper/qvel': {'shape': (2,), 'type': }, 'robot_state/joints/pos': {'shape': (7,), 'type': }, 'robot_state/joints/vel': {'shape': (7,), 'type': }}, 'features_map': {'action': 'action', 'pixels/agentview_image': 'observation.images.image', 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', 'robot_state/eef/mat': 'observation.state.eef_mat', 'robot_state/eef/pos': 'observation.state.eef_pos', 'robot_state/eef/quat': 'observation.state.eef_quat', 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', 'robot_state/joints/pos': 'observation.state.joint_pos', 'robot_state/joints/vel': 'observation.state.joint_vel'}, 'fps': 30, 'init_states': True, 'max_parallel_tasks': 1, 'obs_type': 'pixels_agent_pos', 'observation_height': 360, 'observation_width': 360, 'render_mode': 'rgb_array', 'task': 'libero_spatial', 'task_ids': None}, 'eval': {'batch_size': 4, 'n_episodes': 20, 'use_async_envs': False}, 'job_name': 'libero_joint_fb_act', 'output_dir': PosixPath('outputs/eval/2026-03-28/15-17-09_libero_joint_fb_act'), 'policy': {'chunk_size': 100, 'device': 'cuda', 'dim_feedforward': 3200, 'dim_model': 512, 'dropout': 0.1, 'fb_discount': 0.99, 'fb_ema_tau': 0.005, 'fb_hidden_dim': 512, 'fb_lambda_target': 1.0, 'fb_lambda_warmup': 0, 'fb_latent_dim': 128, 'fb_layer_norm': True, 'fb_num_ensemble': 2, 'fb_num_layers': 4, 'fb_ortho_coeff': 0.0, 'feedforward_activation': 'relu', 'input_features': {'observation.images.image': {'shape': (3, 256, 256), 'type': }, 'observation.images.image2': {'shape': (3, 256, 256), 'type': }, 'observation.state': {'shape': (8,), 'type': }}, 'kl_weight': 10.0, 'latent_dim': 32, 'license': None, 'n_action_steps': 100, 'n_decoder_layers': 1, 'n_encoder_layers': 4, 'n_heads': 8, 'n_obs_steps': 1, 'n_vae_encoder_layers': 4, 'normalization_mapping': {'ACTION': , 'STATE': , 'VISUAL': }, 'optimizer_lr': 1e-05, 'optimizer_lr_backbone': 1e-05, 'optimizer_weight_decay': 0.0001, 'output_features': {'action': {'shape': (7,), 'type': }}, 'pre_norm': False, 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'pretrained_path': PosixPath('/mnt/train-data-1-hdd/kunhsiang/eval_checkpoints/jt_lambda10_5k'), 'private': None, 'push_to_hub': True, 'replace_final_stride_with_dilation': 0, 'repo_id': 'kunhsiang/joint-fb-act-libero-spatial', 'tags': None, 'temporal_ensemble_coeff': None, 'use_amp': False, 'use_peft': False, 'use_vae': True, 'vision_backbone': 'resnet18'}, 'rename_map': {}, 'seed': 1000, 'trust_remote_code': False} INFO 2026-03-28 15:17:09 bot_eval.py:516 Output dir: outputs/eval/2026-03-28/15-17-09_libero_joint_fb_act INFO 2026-03-28 15:17:09 bot_eval.py:518 Making environment. [robosuite WARNING] No private macro file found! (__init__.py:7) WARNING 2026-03-28 15:17:10 e/__init__.py:7 No private macro file found! [robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) WARNING 2026-03-28 15:17:10 e/__init__.py:8 It is recommended to use a private macro file [robosuite WARNING] To setup, run: python /mnt/train-data-1-hdd/kunhsiang/eval-venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) WARNING 2026-03-28 15:17:10 e/__init__.py:9 To setup, run: python /mnt/train-data-1-hdd/kunhsiang/eval-venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py INFO 2026-03-28 15:17:10 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' INFO 2026-03-28 15:17:51 bot_eval.py:526 Making policy. WARNING 2026-03-28 15:17:57 ies/utils.py:94 Unexpected key(s) when loading model: ['fb_aux.target_fb_head.backward_net.0.bias', 'fb_aux.target_fb_head.backward_net.0.weight', 'fb_aux.target_fb_head.backward_net.11.bias', 'fb_aux.target_fb_head.backward_net.11.weight', 'fb_aux.target_fb_head.backward_net.12.bias', 'fb_aux.target_fb_head.backward_net.12.weight', 'fb_aux.target_fb_head.backward_net.2.bias', 'fb_aux.target_fb_head.backward_net.2.weight', 'fb_aux.target_fb_head.backward_net.3.bias', 'fb_aux.target_fb_head.backward_net.3.weight', 'fb_aux.target_fb_head.backward_net.5.bias', 'fb_aux.target_fb_head.backward_net.5.weight', 'fb_aux.target_fb_head.backward_net.6.bias', 'fb_aux.target_fb_head.backward_net.6.weight', 'fb_aux.target_fb_head.backward_net.8.bias', 'fb_aux.target_fb_head.backward_net.8.weight', 'fb_aux.target_fb_head.backward_net.9.bias', 'fb_aux.target_fb_head.backward_net.9.weight', 'fb_aux.target_fb_head.forward_nets.0.0.bias', 'fb_aux.target_fb_head.forward_nets.0.0.weight', 'fb_aux.target_fb_head.forward_nets.0.11.bias', 'fb_aux.target_fb_head.forward_nets.0.11.weight', 'fb_aux.target_fb_head.forward_nets.0.12.bias', 'fb_aux.target_fb_head.forward_nets.0.12.weight', 'fb_aux.target_fb_head.forward_nets.0.2.bias', 'fb_aux.target_fb_head.forward_nets.0.2.weight', 'fb_aux.target_fb_head.forward_nets.0.3.bias', 'fb_aux.target_fb_head.forward_nets.0.3.weight', 'fb_aux.target_fb_head.forward_nets.0.5.bias', 'fb_aux.target_fb_head.forward_nets.0.5.weight', 'fb_aux.target_fb_head.forward_nets.0.6.bias', 'fb_aux.target_fb_head.forward_nets.0.6.weight', 'fb_aux.target_fb_head.forward_nets.0.8.bias', 'fb_aux.target_fb_head.forward_nets.0.8.weight', 'fb_aux.target_fb_head.forward_nets.0.9.bias', 'fb_aux.target_fb_head.forward_nets.0.9.weight', 'fb_aux.target_fb_head.forward_nets.1.0.bias', 'fb_aux.target_fb_head.forward_nets.1.0.weight', 'fb_aux.target_fb_head.forward_nets.1.11.bias', 'fb_aux.target_fb_head.forward_nets.1.11.weight', 'fb_aux.target_fb_head.forward_nets.1.12.bias', 'fb_aux.target_fb_head.forward_nets.1.12.weight', 'fb_aux.target_fb_head.forward_nets.1.2.bias', 'fb_aux.target_fb_head.forward_nets.1.2.weight', 'fb_aux.target_fb_head.forward_nets.1.3.bias', 'fb_aux.target_fb_head.forward_nets.1.3.weight', 'fb_aux.target_fb_head.forward_nets.1.5.bias', 'fb_aux.target_fb_head.forward_nets.1.5.weight', 'fb_aux.target_fb_head.forward_nets.1.6.bias', 'fb_aux.target_fb_head.forward_nets.1.6.weight', 'fb_aux.target_fb_head.forward_nets.1.8.bias', 'fb_aux.target_fb_head.forward_nets.1.8.weight', 'fb_aux.target_fb_head.forward_nets.1.9.bias', 'fb_aux.target_fb_head.forward_nets.1.9.weight'] Creating LIBERO envs | suites=['libero_spatial'] | n_envs(per task)=4 | init_states=True [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] Local assets not found. Downloading from HuggingFace Hub... Assets already downloaded at /home/kunhsiang/.cache/libero/assets Built vec env | suite=libero_spatial | task_id=0 | n_envs=4 Built vec env | suite=libero_spatial | task_id=1 | n_envs=4 Built vec env | suite=libero_spatial | task_id=2 | n_envs=4 Built vec env | suite=libero_spatial | task_id=3 | n_envs=4 Built vec env | suite=libero_spatial | task_id=4 | n_envs=4 Built vec env | suite=libero_spatial | task_id=5 | n_envs=4 Built vec env | suite=libero_spatial | task_id=6 | n_envs=4 Built vec env | suite=libero_spatial | task_id=7 | n_envs=4 Built vec env | suite=libero_spatial | task_id=8 | n_envs=4 Built vec env | suite=libero_spatial | task_id=9 | n_envs=4 Loading weights from local directory Stepping through eval batches: 0%| | 0/5 [00:00